Using of LEGO Mindstorms NXT Technology for Teaching of Basics of Adaptive Control Theory

摘要

An article describes laboratory plants based on LEGO Mindstorms NXT Technology and made of several electromechanical systems. These plant are used both for research and educational purposes. They allow to study and to compare different identification and adaptive control algorithms. Certain results of application of theoretical adaptive control algorithms for various Lego Mindstorms NXT mobile robots (track, wheel and walking ones) and reaction-wheel pendulum-cart systems are presented in the article.