In this paper, we use a nonlinear hierarchical model predictive control (MPC) to stabilize the Segway robot. We also use hardware in the loop (HIL) simulation in order to model the delay response of the wheels' motor and verify the control algorithm. In Two-Wheeled Personal Transportation Robots (TWPTR), changing the center of mass location and […]
This paper presents the construction of a method to find the optimal route for ships with two criteria: fuel consumption and sailing time. Unlike most previous studies, the data used in this research was generated from a simulation model using the HIL (Hardward-In-The-Loop) technology instead of real operational data. The HIL simulator is built from […]
