Name
Title | ||
|---|---|---|
Neural network-based motion control of an underactuated wheeled inverted pendulum model. |
Abstract | ||
|---|---|---|
In this paper, automatic motion control is investigated for one of wheeled inverted pendulum (WIP) models, which have been widely applied for modeling of a large range of two wheeled modern vehicles. First, the underactuated WIP model is decomposed into a fully actuated second order subsystem Σa consisting of planar movement of vehicle forward and yaw angular motions, and a nonactuated first order subsystem Σb of pendulum motion. Due to the unknown dynamics of subsystem Σa and the universal approximation ability of neural network (NN), an adaptive NN scheme has been employed for motion control of subsystem Σa . The model reference approach has been used whereas the reference model is optimized by the finite time linear quadratic regulation technique. The pendulum motion in the passive subsystem Σb is indirectly controlled using the dynamic coupling with planar forward motion of subsystem Σa , such that satisfactory tracking of a set pendulum tilt angle can be guaranteed. Rigours theoretic analysis has been established, and simulation studies have been performed to demonstrate the developed method. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/TNNLS.2014.2302475 | IEEE Trans. Neural Netw. Learning Syst. |
Keywords | Field | DocType |
model reference approach,neural network-based motion control,underactuated wheeled inverted pendulum model,wheeled modern vehicles,adaptive nn scheme,fully actuated second-order subsystem σa,motion control,neurocontrollers,wheeled inverted pendulum (wip),wheeled inverted pendulum (wip).,mobile robots,vehicles,pendulum tilt motion,universal approximation ability,automatic motion control,neural network (nn),wheels,pendulums,planar forward motion,nonlinear control systems,finite time linear quadratic regulation technique,human control strategy,dynamic coupling,underactuated,finite time linear quadratic regulator (lqr),underactuated wip model,yaw angular motions,passive first-order subsystem σb,vehicle forward motion,model reference adaptive control systems | Inverted pendulum,Motion control,Nonlinear system,Reference model,Computer science,Control theory,Double pendulum,Circular motion,Underactuation,Pendulum | Journal |
Volume | Issue | ISSN |
25 | 11 | 2162-2388 |
Citations | PageRank | References |
80 | 2.63 | 26 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Chenguang Yang | 1 | 2213 | 138.71 |
| Zhijun Li | 2 | 1051 | 56.61 |
| Rongxin Cui | 3 | 330 | 14.59 |
| Bugong Xu | 4 | 313 | 101.57 |