Date of Award
Master of Science in Electrical Engineering (MSEE)
Electrical, Computer, and Biomedical Engineering
Richard J. Vaccaro
This thesis develops a test platform for a control problem.
The inverted pendulum is selected as a well-established control problem. It is representative of an unstable nonlinear system which may remain balanced using any of several methods. Once balancing is achieved, multidimensional maneuvering is added as a supplemental control objective.
To approach the control problem hardware is selected which is then characterized and simulated, and then operated while communicating operational data.
The thesis provides a detailed description of the approaches to:
- Selecting the hardware.
- Characterizing the hardware.
- Developing a functioning controller.
- Simulating the results.
Additionally, a modular test platform is developed such that additional control approaches or characterization models could be implemented and hot-swapped.
Kando, Nathan, "Testbed for Trajectory Control of a Two-Wheeled Robot" (2017). Open Access Master's Theses. Paper 1136.