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- W2897530007 abstract "Aimed at the problem of balance control of the inertia wheel pendulum robot, a double closed-loop controller was designed based on the traditional PID controller. The double closed-loop controller performs PID controller on the angle loop of the inertia wheel pendulum system, and performs negative feedback controller on the angular velocity loop of the inertia wheel pendulum system, so as to realize the full control of the inclination of the inertia wheel pendulum robot and the angular velocity of the inertia wheel. Based on the above controller, an inertia wheel pendulum robot was designed to verify the feasibility of the double closed-loop controller. The experimental results show that compared with the existing controllers, the double closed-loop controller can simultaneously achieve full control of the inclination of the inertia wheel pendulum robot and the angular velocity of the inertia wheel." @default.
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- W2897530007 date "2018-07-01" @default.
- W2897530007 modified "2023-09-27" @default.
- W2897530007 title "Inertia Wheel Pendulum Robot Balance Control Based on Double Closed-Loop Control System" @default.
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- W2897530007 doi "https://doi.org/10.23919/chicc.2018.8483077" @default.
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