期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 16, 期 2, 页码 297-303出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2007.903396
关键词
mobile pendulum; neural network control
资金
- National Research Foundation of Korea [과C6B1815] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
The mobile inverted pendulum is developed and tested for an intelligent control experiment of control engineers. Intelligent control algorithms are tested for the control experiment of a low cost mobile inverted pendulum system. Online learning and control using neural network of a wheel-driven mobile inverted pendulum system is presented. Neural network learning algorithm is embedded on a digital signal processing board along with primary proportional-integral-differential controllers to achieve real time control. Without knowing dynamics of the system, uncertainties in system dynamics are compensated by neural network in an online fashion. Digital filters are designed for a gyro sensor to compensate for a phase lag. Experimental studies of balancing the pendulum and tracking the desired trajectory of the cart for one dimensional motion are conducted. Results show the robustness of the proposed controller even when outer impacts as disturbance are present.
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