Quaternion - Based Dynamic Inversion Control and System Integration of A Two-wheel UGV

• Main Authors: WU, SIH-JIE, 吳思潔
• Other Authors: LUM, KAI-YEW
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/ejweqa

碩士 === 國立暨南國際大學 === 電機工程學系 === 107 === This thesis discusses the balance control of two-wheeled vehicles, in which the quaternions in the inertial measurement instrument is used as the data for calculating the attitude. The quaternions do not have any direction restrictions and singular points and avoid the problem of the Gimbal lock, which makes the pose value more accurate. In addition, in the control of the two-wheeled vehicle, Beaglebone Green Wireless with ROS (Robot Operating System) is responsible for the communication and control among other devices. The speed is passed to the motor control board RoboteQ and L293D to control the motor. This thesis also discusses the nonlinear dynamic-inversion of the feedback control of the two-wheeled balance vehicle and converts the original nonlinear control model into a linear control system model.