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Closed-Loop System Identification of High-Speed Magnetic Levitation Spindle

產學合作

In response to the open-loop instability of magnetic bearing systems, this research develops a closed-loop identification method to obtain an accurate plant model for controller design. The identification method is based on a decentralized and decoupling control architecture, which allows the decoupling of the multi-input-multi-output (MIMO) system into two single-input-single-output (SISO) systems for simplifying the …

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Anti-slip Balancing Control of a Humanoid Wheeled Inverted Pendulum Robot

學術研究

This research aims to develop systematic methodologies to perform sensor fusion, balancing control, and whole-body posture control on a humanoid wheel inverted pendulum (WIP) robots.  For sensor fusion, a novel pitch angle estimator is proposed by merging the measurements for two IMU’s.  Such an estimator is meant to eliminate the error caused by motion acceleration when estimating the pitch angle for feedback purposes.  For the balancing control, a controller that provides robust stability to the variations of the CoM height is …

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Analysis and Control of an In-pipe Wheeled Robot with Spiral Moving Capability

學術研究

This paper presents analysis and control of a wheeled robot that can move spirally inside the pipeline. The wheeled robot onsidered is composed of two mechanical bodies, a pair of differential-drive wheels, a lifting motor and a steering wheel. The echatronic design allows the robot to easily press against the inner wall and spiral along …

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Special Topics in Mobile Robots and Self-Driving Cars

課程

This course introduces students to localization, mapping, planning and control of mobile robots and self-driving cars from the probabilistic perspective.  Topics include recursive state estimation, Gaussian filters, non-parametric filters, robot motion and perception, localization, mapping, SLAM (simultaneous localization and mapping), obstacle avoidance, navigation, and so on.  Laboratory assignments provide hands-on experience with servo drives, sensors, interface circuitry, and microprocessor-based real-time control, Robot Operating System (ROS) programming. Students will fabricate working robotic systems in a group-based term project.

Digital Control System

課程

This course is a continuation of control systems (I).  It particularly provides the students with basic knowledge in state-space design, digital control and nonlinear systems.  As for the state-space design, it begins with reviewing linear-algebra fundamentals and introducing state-space description of  linear systems.  Students will then learn how to design full-state feedback and estimator of the  control system.    In digital control, z-transform will be introduced first and controller design using  digital equivalents will then be covered.  Finally, we will introduce some basic analysis and design  tools for nonlinear control systems

Control Systems II

課程

This course is a continuation of control systems (I).  It particularly provides the students with basic knowledge in state-space design, digital control and nonlinear systems.  As for the state-space design, it begins with reviewing linear-algebra fundamentals and introducing state-space description of  linear systems.  Students will then learn how to design full-state feedback and estimator of the  control system. In digital control, z-transform will be introduced first and controller design using  digital equivalents will then be covered.  Finally, we will introduce some basic analysis and design tools for nonlinear control systems.