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Robotics – Rover Vehicle + DCM
Robotics – Rover Vehicle + DCM
The intelligent controller was implemented by MyRIO with LabVIEW + MATLAB(Script).
The intelligent controller was implemented by MyRIO with LabVIEW + MATLAB(Script).
-Self-tuner and DOB were designed for imposing the intelligence to the closed-loop system.
-Self-tuner and DOB were designed for imposing the intelligence to the closed-loop system.
The control law is divided into two parts; robotics and actuators.
The control law is divided into two parts; robotics and actuators.
-Features : Self-tuner, DOB, and active damping and acc. Observer for DCMs.
-Features : Self-tuner, DOB, and active damping and acc. Observer for DCMs.
A considerable robustness improvement was observed for several operating points.
A considerable robustness improvement was observed for several operating points.
(as replacing the proposed DCM controller with the FL controller)
(as replacing the proposed DCM controller with the FL controller)
-DOB+Acc. Observer : disturbance rejection performance improvement (speed and acceleration loops)
-DOB+Acc. Observer : disturbance rejection performance improvement (speed and acceleration loops)
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