LEGO MINDSTORMS NXT FOR TEACHING THE PRINCIPLES OF ADAPTIVE CONTROL THEORY TO STUDENTS

A. A. Bobtsov, Y. A. Kapitanyuk, A. A. Kapitonov, S. A. Kolyubin, A. A. Pyrkin, S. A. Chepinsky, S. V. Shavetov


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Abstract

Labware based on Lego Mindstorms NXT technology consisting of several electromechanical systems is
described. The units are used both for research and for educational purposes, allowing investigating and
comparing different adaptive control and identification algorithms. Some implementation results of theoretical
adaptive control algorithms for different mobile robots based on Lego Mindstorms NXT construction set (tracktype, wheel and walking robots) and reaction-wheel pendulum-cart systems are presented.


Keywords: Lego Mindstorms NXT, adaptive control, mobile robots, mechatronic system, teaching to students
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