{"id":4160,"date":"2021-06-08T17:09:51","date_gmt":"2021-06-08T10:09:51","guid":{"rendered":"https:\/\/gulfthai.com\/?p=4160"},"modified":"2021-06-10T12:01:30","modified_gmt":"2021-06-10T05:01:30","slug":"%e0%b8%ab%e0%b8%b8%e0%b9%88%e0%b8%99%e0%b8%a2%e0%b8%99%e0%b8%95%e0%b9%8c%e0%b8%aa%e0%b8%ad%e0%b8%87%e0%b8%a5%e0%b9%89%e0%b8%ad-two-wheeled-robots","status":"publish","type":"post","link":"https:\/\/gulfthai.com\/?p=4160","title":{"rendered":"\u0e01\u0e32\u0e23\u0e27\u0e34\u0e08\u0e31\u0e22\u0e41\u0e25\u0e30\u0e1e\u0e31\u0e12\u0e19\u0e32 \u0e01\u0e32\u0e23\u0e04\u0e27\u0e1a\u0e04\u0e38\u0e21\u0e2b\u0e38\u0e48\u0e19\u0e22\u0e19\u0e15\u0e4c\u0e2a\u0e2d\u0e07\u0e25\u0e49\u0e2d (Two-wheeled Robot)"},"content":{"rendered":"\n<p>\u0e42\u0e04\u0e23\u0e07\u0e2a\u0e23\u0e49\u0e32\u0e07\u0e41\u0e25\u0e30\u0e01\u0e32\u0e23\u0e2d\u0e2d\u0e01\u0e41\u0e1a\u0e1a\u0e2b\u0e38\u0e48\u0e19\u0e22\u0e19\u0e15\u0e4c\u0e2a\u0e2d\u0e07\u0e25\u0e49\u0e2d \u0e1b\u0e23\u0e30\u0e01\u0e2d\u0e1a\u0e14\u0e49\u0e27\u0e22\u0e25\u0e49\u0e2d \u0e21\u0e2d\u0e40\u0e15\u0e2d\u0e23\u0e4c \u0e23\u0e30\u0e1a\u0e1a\u0e2a\u0e48\u0e07\u0e01\u0e33\u0e25\u0e31\u0e07<\/p>\n\n\n\n<figure class=\"wp-block-embed-facebook wp-block-embed is-type-rich is-provider-embed-handler\"><div class=\"wp-block-embed__wrapper\">\n<div class=\"fb-post\" data-href=\"https:\/\/www.facebook.com\/pe.robotics\/posts\/1809361172603534\" data-width=\"552\" style=\"background-color: #fff; display: inline-block;\"><\/div>\n<\/div><\/figure>\n\n\n\n<p>\u0e23\u0e30\u0e1a\u0e1a\u0e04\u0e27\u0e1a\u0e04\u0e38\u0e21\u0e2b\u0e38\u0e19\u0e22\u0e19\u0e15\u0e4c\u0e2a\u0e2d\u0e07\u0e25\u0e49\u0e2d<\/p>\n\n\n\n<figure class=\"wp-block-embed-facebook wp-block-embed is-type-rich is-provider-embed-handler\"><div class=\"wp-block-embed__wrapper\">\n<div class=\"fb-post\" data-href=\"https:\/\/www.facebook.com\/pe.robotics\/posts\/1809361842603467\" data-width=\"552\" style=\"background-color: #fff; display: inline-block;\"><\/div>\n<\/div><\/figure>\n\n\n\n<p>We developed many types of robots including unstable robots.A two-wheeled vehicle as known as Segway introduced around the 2000s.<br>In 2007, we developed a\u00a0small-size two-wheeled robot for control system research.We developed control algorithm for the robot. We found that we can assume simplified\u00a0system by linearization of the system.We developed a real-time controller for the robot.\u00a0LQR\u00a0<br>\u0e2b\u0e38\u0e48\u0e19\u0e22\u0e19\u0e15\u0e4c\u0e2a\u0e2d\u0e07\u0e25\u0e49\u0e2d<\/p>\n\n\n\n<figure class=\"wp-block-embed-youtube wp-block-embed is-type-video is-provider-youtube wp-embed-aspect-4-3 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"\u0e2b\u0e38\u0e48\u0e19\u0e22\u0e19\u0e15\u0e4c\u0e41\u0e25\u0e30\u0e23\u0e30\u0e1a\u0e1a\u0e2d\u0e31\u0e15\u0e42\u0e19\u0e21\u0e31\u0e15\u0e34 \u0e15\u0e2d\u0e19\u0e17\u0e35\u0e48 2 - Robot \u0e2b\u0e38\u0e48\u0e19\u0e22\u0e19\u0e15\u0e4c\u0e2a\u0e2d\u0e07\u0e25\u0e49\u0e2d by CRV Lab\" width=\"640\" height=\"480\" src=\"https:\/\/www.youtube.com\/embed\/ydtXHcH6BZc?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>https:\/\/sites.google.com\/site\/yaovaja\/4-projects\/prototype-projects\/2007-two-wheeled-robots<\/p>\n\n\n\n<p>https:\/\/sites.google.com\/site\/yaovaja\/research\/Optimal-Control&#8211;Two-wheeled-Robot<br><\/p>\n\n\n\n<p>Optimal Control of a Two-wheeled Robot with High Bandwidth Tilt Measurement<br>\u0e01\u0e34\u0e15\u0e15\u0e34\u0e1e\u0e07\u0e29\u0e4c \u0e40\u0e22\u0e32\u0e27\u0e32\u0e08\u0e32&nbsp;\u0e41\u0e25\u0e30 \u0e27\u0e34\u0e17\u0e34\u0e15 \u0e09\u0e31\u0e15\u0e23\u0e23\u0e31\u0e15\u0e19\u0e01\u0e38\u0e25\u0e0a\u0e31\u0e22\u0e01\u0e32\u0e23\u0e04\u0e27\u0e1a\u0e04\u0e38\u0e21\u0e17\u0e35\u0e48\u0e40\u0e2b\u0e21\u0e32\u0e30\u0e2a\u0e21\u0e17\u0e35\u0e48\u0e2a\u0e38\u0e14\u0e02\u0e2d\u0e07\u0e2b\u0e38\u0e48\u0e19\u0e22\u0e19\u0e15\u0e4c\u0e2a\u0e2d\u0e07\u0e25\u0e49\u0e2d\u0e14\u0e49\u0e27\u0e22\u0e01\u0e32\u0e23\u0e27\u0e31\u0e14\u0e04\u0e27\u0e32\u0e21\u0e40\u0e2d\u0e35\u0e22\u0e07\u0e41\u0e1a\u0e19\u0e14\u0e4c\u0e27\u0e34\u0e17\u0e18\u0e4c\u0e2a\u0e39\u0e07\u0e01\u0e32\u0e23\u0e1b\u0e23\u0e30\u0e0a\u0e38\u0e21\u0e27\u0e34\u0e0a\u0e32\u0e01\u0e32\u0e23\u0e40\u0e04\u0e23\u0e37\u0e2d\u0e02\u0e48\u0e32\u0e22\u0e27\u0e34\u0e28\u0e27\u0e01\u0e23\u0e23\u0e21\u0e40\u0e04\u0e23\u0e37\u0e48\u0e2d\u0e07\u0e01\u0e25\u0e41\u0e2b\u0e48\u0e07\u0e1b\u0e23\u0e30\u0e40\u0e17\u0e28\u0e44\u0e17\u0e22\u0e04\u0e23\u0e31\u0e49\u0e07\u0e17\u0e35\u0e48&nbsp;22&nbsp;15-17&nbsp;\u0e15\u0e38\u0e25\u0e32\u0e04\u0e21&nbsp;2551&nbsp;\u0e21\u0e2b\u0e32\u0e27\u0e34\u0e17\u0e22\u0e32\u0e25\u0e31\u0e22\u0e18\u0e23\u0e23\u0e21\u0e28\u0e32\u0e2a\u0e15\u0e23\u0e4c \u0e28\u0e39\u0e19\u0e22\u0e4c\u0e23\u0e31\u0e07\u0e2a\u0e34\u0e15<br>A two-wheeled robot is independently driven by two concentric motors. The two-wheeled robot is a marginally stable plant. Over the last decade, researchers have designed controllers for stabilizing the robot and obtaining some desired responses. In this paper, the LQR control of a two-wheeled robot is designed and implemented. Luenberger Observer is also presented in order to improve tilt measurement from an inclinometer and a rate gyroscope. Tilt measurement is accurate over a high frequency range as shown in both simulation and experiment. Simulation and experimental results demonstrate the reliability and&nbsp;effectiveness of the proposed control scheme.<\/p>\n\n\n\n<p>\u0e01\u0e32\u0e23\u0e40\u0e1e\u0e34\u0e48\u0e21\u0e19\u0e49\u0e33\u0e2b\u0e19\u0e31\u0e01\u0e1a\u0e23\u0e23\u0e17\u0e38\u0e01\u0e41\u0e25\u0e30\u0e01\u0e32\u0e23\u0e2d\u0e2d\u0e01\u0e41\u0e1a\u0e1a\u0e23\u0e30\u0e1a\u0e1a\u0e04\u0e27\u0e1a\u0e04\u0e38\u0e21<\/p>\n\n\n\n<figure class=\"wp-block-embed-facebook wp-block-embed is-type-rich is-provider-embed-handler\"><div class=\"wp-block-embed__wrapper\">\n<div class=\"fb-post\" data-href=\"https:\/\/www.facebook.com\/pe.robotics\/posts\/1809360542603597\" data-width=\"552\" style=\"background-color: #fff; display: inline-block;\"><\/div>\n<\/div><\/figure>\n\n\n\n<p>\u0e01\u0e32\u0e23\u0e04\u0e32\u0e25\u0e34\u0e40\u0e1a\u0e23\u0e15\u0e40\u0e0b\u0e19\u0e40\u0e0b\u0e2d\u0e23\u0e4c \u0e42\u0e14\u0e22\u0e01\u0e32\u0e23\u0e19\u0e33\u0e40\u0e0b\u0e19\u0e40\u0e0b\u0e2d\u0e23\u0e4c gyro scope \u0e41\u0e25\u0e30 inclinometer \u0e21\u0e32\u0e2a\u0e2d\u0e1a\u0e40\u0e17\u0e35\u0e22\u0e1a\u0e01\u0e31\u0e1a\u0e40\u0e0b\u0e19\u0e40\u0e0b\u0e2d\u0e23\u0e4c encoder \u0e40\u0e1e\u0e37\u0e48\u0e2d\u0e40\u0e1e\u0e34\u0e48\u0e21\u0e1b\u0e23\u0e30\u0e2a\u0e34\u0e17\u0e18\u0e34\u0e20\u0e32\u0e1e IMU<\/p>\n\n\n\n<p>mini project&#8230; Pendulum Control for Sensor Calibration<\/p>\n\n\n\n<figure class=\"wp-block-embed-facebook wp-block-embed is-type-rich is-provider-embed-handler\"><div class=\"wp-block-embed__wrapper\">\n<div class=\"fb-post\" data-href=\"https:\/\/www.facebook.com\/pe.robotics\/posts\/1809358429270475\" data-width=\"552\" style=\"background-color: #fff; display: inline-block;\"><\/div>\n<\/div><\/figure>\n\n\n\n<p>\u0e23\u0e30\u0e1a\u0e1a\u0e04\u0e27\u0e1a\u0e04\u0e38\u0e21\u0e41\u0e25\u0e30\u0e01\u0e32\u0e23\u0e40\u0e01\u0e47\u0e1a\u0e02\u0e49\u0e2d\u0e21\u0e39\u0e25<\/p>\n\n\n\n<figure class=\"wp-block-embed-facebook wp-block-embed is-type-rich is-provider-embed-handler\"><div class=\"wp-block-embed__wrapper\">\n<div class=\"fb-post\" data-href=\"https:\/\/www.facebook.com\/pe.robotics\/posts\/1809359842603667\" data-width=\"552\" style=\"background-color: #fff; display: inline-block;\"><\/div>\n<\/div><\/figure>\n\n\n\n<p><a href=\"https:\/\/gulfthai.com\/?page_id=1201\">\u0e1c\u0e39\u0e49\u0e0a\u0e48\u0e27\u0e22\u0e28\u0e32\u0e2a\u0e15\u0e23\u0e32\u0e08\u0e32\u0e23\u0e22\u0e4c \u0e14\u0e23.\u0e01\u0e34\u0e15\u0e15\u0e34\u0e1e\u0e07\u0e29\u0e4c \u0e40\u0e22\u0e32\u0e27\u0e32\u0e08\u0e32<\/a> \/ K.Yaovaja<br>\u0e2b\u0e31\u0e27\u0e2b\u0e19\u0e49\u0e32<a href=\"https:\/\/gulfthai.com\/?page_id=1493\">\u0e01\u0e25\u0e38\u0e48\u0e21\u0e27\u0e34\u0e08\u0e31\u0e22\u0e27\u0e34\u0e17\u0e22\u0e32\u0e01\u0e32\u0e23\u0e2b\u0e38\u0e48\u0e19\u0e22\u0e19\u0e15\u0e4c\u0e41\u0e25\u0e30\u0e23\u0e30\u0e1a\u0e1a\u0e2d\u0e31\u0e15\u0e42\u0e19\u0e21\u0e31\u0e15\u0e34\u0e02\u0e31\u0e49\u0e19\u0e2a\u0e39\u0e07<\/a> \/ RAAS<br>\u0e41\u0e25\u0e30\u0e1c\u0e39\u0e49\u0e23\u0e31\u0e1a\u0e1c\u0e34\u0e14\u0e0a\u0e2d\u0e1a<a href=\"https:\/\/gulfthai.com\/?p=708\">\u0e2b\u0e25\u0e31\u0e01\u0e2a\u0e39\u0e15\u0e23\u0e2b\u0e38\u0e48\u0e19\u0e22\u0e19\u0e15\u0e4c\u0e41\u0e25\u0e30\u0e23\u0e30\u0e1a\u0e1a\u0e2d\u0e31\u0e15\u0e42\u0e19\u0e21\u0e31\u0e15\u0e34 (\u0e19\u0e32\u0e19\u0e32\u0e0a\u0e32\u0e15\u0e34)\u200b<\/a> \/RASE<br><a href=\"https:\/\/www.eng.src.ku.ac.th\/\">\u0e04\u0e13\u0e30\u0e27\u0e34\u0e28\u0e27\u0e01\u0e23\u0e23\u0e21\u0e28\u0e32\u0e2a\u0e15\u0e23\u0e4c\u0e28\u0e23\u0e35\u0e23\u0e32\u0e0a\u0e32 \u0e40\u0e01\u0e29\u0e15\u0e23\u0e28\u0e32\u0e2a\u0e15\u0e23\u0e4c \u0e27\u0e34\u0e17\u0e22\u0e32\u0e40\u0e02\u0e15\u0e28\u0e23\u0e35\u0e23\u0e32\u0e0a\u0e32<\/a> \/ KU Sriracha<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u0e42\u0e04\u0e23\u0e07\u0e2a\u0e23\u0e49\u0e32\u0e07\u0e41\u0e25\u0e30\u0e01\u0e32\u0e23\u0e2d\u0e2d\u0e01\u0e41\u0e1a\u0e1a\u0e2b\u0e38\u0e48\u0e19\u0e22\u0e19\u0e15\u0e4c\u0e2a\u0e2d\u0e07\u0e25\u0e49\u0e2d \u0e1b\u0e23\u0e30\u0e01\u0e2d\u0e1a\u0e14\u0e49\u0e27\u0e22\u0e25\u0e49\u0e2d \u0e21\u0e2d\u0e40\u0e15\u0e2d\u0e23\u0e4c \u0e23\u0e30\u0e1a\u0e1a\u0e2a\u0e48\u0e07\u0e01\u0e33\u0e25\u0e31\u0e07 \u0e23\u0e30\u0e1a\u0e1a\u0e04\u0e27\u0e1a\u0e04\u0e38\u0e21\u0e2b\u0e38\u0e19\u0e22\u0e19\u0e15\u0e4c\u0e2a\u0e2d\u0e07\u0e25\u0e49\u0e2d We developed many types of robots including unstable robots.A two-wheeled vehicle as known as Segway introduced around the 2000s.In 2007, we developed a\u00a0small-size two-wheeled robot for control system research.We developed control algorithm for the robot. We found that we can assume simplified\u00a0system by linearization of the system.We developed a real-time<br \/><a class=\"read-more\" href=\"https:\/\/gulfthai.com\/?p=4160\">Complete Reading<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[14,5,12,3],"tags":[],"class_list":["post-4160","post","type-post","status-publish","format-standard","hentry","category-control-embedded-system","category-engineering","category-research-innovation","category-robotics-automation"],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/posts\/4160","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/gulfthai.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=4160"}],"version-history":[{"count":10,"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/posts\/4160\/revisions"}],"predecessor-version":[{"id":4257,"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/posts\/4160\/revisions\/4257"}],"wp:attachment":[{"href":"https:\/\/gulfthai.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=4160"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/gulfthai.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=4160"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/gulfthai.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=4160"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}