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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/46987

Title: Real-time control of a wheeled inverted pendulum based on an intelligent model free controller
Authors: Chih-Hui Chiu
You-Wei Lin
Chun-Hsien Lin
Contributors: 國立臺灣海洋大學:通訊科學系
Keywords: Adaptive learning rate
Wheeled inverted pendulum
Adaptive output recurrent cerebellar-model-articulation-controller
Date: 2011
Issue Date: 2018-06-25T08:33:49Z
Publisher: Mechatronics
Abstract: Abstract: 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.
Relation: 21(3) pp.523-533
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/46987
Appears in Collections:[通訊與導航工程學系] 期刊論文

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