National Taiwan Ocean University Institutional Repository:Item 987654321/46979
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题名: Position and angle control for a two-wheel robot
作者: Chih-Hui Chiu
Ya-Fu Peng
贡献者: 國立臺灣海洋大學:通訊科學系
关键词: two-wheel robot system
backstepping tracking control
Adaptive output recurrent cerebellar model articulation control
compensated control
decoupled control
Lyapunov stability analysis
日期: 2017
上传时间: 2018-06-25T03:38:22Z
出版者: International Journal of Control, Automation and Systems October 2017,
摘要: 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.
關聯: 15(5) pp.2343–2354
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/46979
显示于类别:[通訊與導航工程學系] 期刊論文

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