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Principles of Mobile Walking Robot Control in Scope of Technical Monitoring Tasks

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Advances in Dependability Engineering of Complex Systems (DepCoS-RELCOMEX 2017)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 582))

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Abstract

The article describes control synthesis for mobile walking robot, which has an interval mathematical model. We proposed proof of concept for mobile walking robot, carrying load up to sixty percents of robot’s mass. Control system includes a computing unit, seven servos, a three-axis accelerometer and a moving camera operating in a visible optical range. Results of interval algorithms synthesis are shown for robot as an object of automatic control (OAC), with interval mathematical model. We defined the operational mode range of the system, its structure and interval parameters of mathematical model. It is shown that setting of interval values allows adequate modeling and description of processes in dynamic systems such as mobile walking robots. Main goal of this paper is to show possibility of classical Bode Diagram modification and application for the synthesis of interval control.

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Authors and Affiliations

  1. National Aerospace University KhAI, 17 Chkalova Street, Kharkiv, 61070, Ukraine

    Oleksandr Radomskyi

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  1. Oleksandr Radomskyi
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Correspondence to Oleksandr Radomskyi .

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Editors and Affiliations

  1. Department of Computer Engineering, Wrocław University of Technology Department of Computer Engineering, Wrocław, Poland

    Wojciech Zamojski

  2. Department of Computer Engineering, Wrocław University of Technology Department of Computer Engineering, Wrocław, Poland

    Jacek Mazurkiewicz

  3. Department of Computer Engineering, Wrocław University of Technology, Wroclaw, Poland

    Jarosław Sugier

  4. Department of Computer Engineering, Wrocław University of Technology Department of Computer Engineering, Wrocław, Poland

    Tomasz Walkowiak

  5. Systems Research Institute, Polish Academy of Sciences Systems Research Institute, Warsaw, Poland

    Janusz Kacprzyk

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Radomskyi, O. (2018). Principles of Mobile Walking Robot Control in Scope of Technical Monitoring Tasks. In: Zamojski, W., Mazurkiewicz, J., Sugier, J., Walkowiak, T., Kacprzyk, J. (eds) Advances in Dependability Engineering of Complex Systems. DepCoS-RELCOMEX 2017. Advances in Intelligent Systems and Computing, vol 582. Springer, Cham. https://doi.org/10.1007/978-3-319-59415-6_36

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  • DOI: https://doi.org/10.1007/978-3-319-59415-6_36

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-59414-9

  • Online ISBN: 978-3-319-59415-6

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