Real-time control of a wheeled inverted pendulum based on an intelligent model free controller

被引：26

作者：

Chiu, Chih-Hui ^{[1
]}

Lin, You-Wei ^{[1
]}

Lin, Chun-Hsien ^{[1
]}

机构：

[1] Yuan Ze Univ, Dept Elect Engn, Tao Yuan 320, Taiwan

来源：

MECHATRONICS | 2011年 / 21卷 / 03期

关键词：

Adaptive output recurrent cerebellar-model-articulation-controller; Wheeled inverted pendulum; Adaptive learning rate; CMAC; DESIGN; SYSTEMS;

D O I：

10.1016/j.mechatronics.2011.01.010

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This work applies a novel model free intelligent controller to control wheeled inverted pendulums (WIPs). The main purpose of this work is to develop an adaptive output recurrent cerebellar-model-articulation-controller (AORCMAC) for angle and position control of such a WIP without model information. Because the novel model free AORCMAC architecture captures system dynamics, it has a superior capability to the conventional cerebellar-model-articulation-controllers in terms of its efficient learning and dynamic response. Moreover, a virtual angle is applied to complete the angle and position control of the WIP simultaneously with the model information unknown. The experimental results indicate that the WIPs can stand upright and move forward and backward stably when using the proposed control scheme. (c) 2011 Elsevier Ltd. All rights reserved.

引用

页码：523 / 533

页数：11

共 29 条

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