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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/46979

Title: Position and angle control for a two-wheel robot
Authors: Chih-Hui Chiu
Ya-Fu Peng
Contributors: 國立臺灣海洋大學:通訊科學系
Keywords: two-wheel robot system
backstepping tracking control
Adaptive output recurrent cerebellar model articulation control
compensated control
decoupled control
Lyapunov stability analysis
Date: 2017
Issue Date: 2018-06-25T03:38:22Z
Publisher: International Journal of Control, Automation and Systems October 2017,
Abstract: Abstract: In this paper, a two-wheel robot (TWR) system is implemented based on a position and angle decoupled intelligent backstepping control system. The decoupled method provides a simple method to achieve asymptotic stability control for a fourth-order nonlinear TWR system using a second-order dynamics model. Moreover, adaptive output recurrent cerebellar model articulation control (AORCMAC) is designed in this study to imitate an ideal backstepping controller (IBC). Furthermore, to compensate for the difference between the two controllers mentioned, a compensator is used. Based on the Lyapunov stability method, the stability of the closed-loop system can be guaranteed. To train the AORCMAC effectively, the variable learning rates that guarantee the convergence of the system are proposed. Finally, simulation and experimental results demonstrate the effectiveness of the proposed control method for TWR control.
Relation: 15(5) pp.2343–2354
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/46979
Appears in Collections:[通訊與導航工程學系] 期刊論文

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