Comparative analysis of single-loop and dual-loop control systems for a single-wheeled mobile robot
Abstract
The features of the wheeled robot drive system and its operation under various environmental conditions are considered. A mathematical model of the "drive-wheel" system is proposed. Mathematical modeling of the operation of single-loop and dual-loop control systems of a single-wheeled mobile robot under conditions of the presence of disturbing effects is carried out. A comparative analysis of the parameters of the quality of control performed by both considered ACS is performed.
About the Authors
S. K. Shulgin
Lugansk State University named after Vladimir Dal
Russian Federation
Russian Federation
candidate of technical Sciences, assistant professor
D. O. Sinepolsky
Lugansk State University named after Vladimir Dal
Russian Federation
Russian Federation
senior Lecturer
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Review
For citations:
Shulgin S.K., Sinepolsky D.O. Comparative analysis of single-loop and dual-loop control systems for a single-wheeled mobile robot. Social-economic and technical systems: research, design and optimization. 2025;(3):175-180. (In Russ.)
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