| dc.contributor.author |
Purohit, Palak |
|
| dc.contributor.author |
Modi, Poojan |
|
| dc.contributor.author |
Vyas, Udit |
|
| dc.date.accessioned |
2021-10-08T05:30:47Z |
|
| dc.date.available |
2021-10-08T05:30:47Z |
|
| dc.date.issued |
2021-09 |
|
| dc.identifier.citation |
Purohit, Palak; Modi, Poojan and Vyas, Udit, "Kinematic control of 2-wheeled segway", arXiv, Cornell University Library, DOI: arXiv:2109.11919, Sep. 2021. |
en_US |
| dc.identifier.uri |
http://arxiv.org/abs/2109.11919 |
|
| dc.identifier.uri |
https://repository.iitgn.ac.in/handle/123456789/6955 |
|
| dc.description.abstract |
The Segway is a popular self-balancing two-wheeled vehicle. In this paper, we present a control mechanism for the planar Segway problem. The open-loop analysis validates the fact that the system is unstable by default and there is a need to design a closed-loop feedback to establish control for the system. This has been done by implementing a PD controller for the multiple-output system. Since the kinematic equations of the system are non-linear initially, the controller has been designed by linearizing the equations about the equilibrium point. Later, the response of the non-linear system is examined using the designed controller. |
|
| dc.description.statementofresponsibility |
by Palak Purohit, Poojan Modi and Udit Vyas |
|
| dc.language.iso |
en_US |
en_US |
| dc.publisher |
Cornell University Library |
en_US |
| dc.subject |
Segway |
en_US |
| dc.subject |
Control mechanism |
en_US |
| dc.subject |
Open-loop analysis |
en_US |
| dc.subject |
PD controller |
en_US |
| dc.subject |
Kinematic equations |
en_US |
| dc.title |
Kinematic control of 2-wheeled segway |
en_US |
| dc.type |
Pre-Print |
en_US |
| dc.relation.journal |
arXiv |
|