Repozytorium publikacji - Politechnika Gdańska

A low-cost measurement system using filtering of measurements for two-wheeled balancing robot stabilisation purposes has been addressed in this paper. In particular, a measurement system based on gyroscope, accelerometer, and encoder has been considered. The measurements have been corrected for deterministic disturbances and then filtered with Kalman, α-β type, and complementary filters. A quantitative assessment of selected filters has been given. As a result, the complete structure of a measurement system has been obtained. The performance of the proposed measurement system has been validated experimentally by using a dedicated research rig.

Autorzy

• mgr inż. Krzysztof Laddach link otwiera się w nowej karcie ,
• dr inż. Rafał Łangowski link otwiera się w nowej karcie ,
• dr inż. Tomasz Zubowicz link otwiera się w nowej karcie