National Taiwan Ocean University Institutional Repository:Item 987654321/46989
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题名: Self-tuning output recurrent cerebellar model articulation controller for a wheeled inverted pendulum control
作者: Chih-Hui Chiu
贡献者: 國立臺灣海洋大學:通訊科學系
关键词: Cerebellar model articulation controller
Wheeled inverted pendulum
Gradient descent method
日期: 2010
上传时间: 2018-06-26T05:59:35Z
出版者: Neural Computing and Applications
摘要: Abstract: In this study, a model-free self-tuning output recurrent cerebellar model articulation controller (SORCMAC) is investigated to control a wheeled inverted pendulum (WIP). Since the proposed SORCMAC captures the system dynamics, it has superior capability compared to the conventional cerebellar model articulation controller in terms of an efficient learning mechanism and dynamic response. The dynamic gradient descent method is also adopted to adjust the SORCMAC parameters online. Moreover, an analytical method based on a Lyapunov function is proposed to determine the learning rates of the SORCMAC so that the convergence of the system can be guaranteed. Finally, the effectiveness of the proposed control system is verified by simulations of the WIP control. Simulation results show that the WIP can move forward and backward stably with uncertainty disturbance by using the proposed SORCMAC
關聯: 19(8) pp.1153–1164
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/46989
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