Position control of a mobile inverted pendulum system using radial basis function network |
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Authors: | Jin Seok Noh Geun Hyung Lee Seul Jung |
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Affiliation: | (1) Department of Electrical Engineering and Fuel Cell Center, Yuan-Ze University, Chung-Li, Tao-Yuan, 320, Taiwan, ROC |
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Abstract: | This article presents the implementation of position control of a mobile inverted pendulum (MIP) system by using the radial
basis function (RBF) network. The MIP has two wheels to move on the plane and to balance the pendulum. The MIP is a nonlinear
system whose dynamics is nonholonomic. The goal of this study was to control the MIP to maintain the balance of the pendulum
while tracking a desired position of the cart. The reference compensation technique scheme is used as a neural network control
method for the MIP. The back-propagation learning algorithm of the RBF network is derived for online learning and control.
The control algorithm has been embedded on a DSP 2812 board to achieve real-time control. Experimental results are conducted
and show successful control performances of both balancing and tracking the desired position of the MIP. |
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Keywords: | |
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