Position control of a mobile inverted pendulum system using radial basis function network

Noh, Ji-Hye; Lee, Geun Hyung; Jung, Seul

doi:10.1007/s12555-010-0120-0

Cited by 36 publications

(6 citation statements)

References 7 publications

(5 reference statements)

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“…A PD control method is used for the balancing angle control while PID controllers are used for the orientation angle control as well as the position control. 29,30,32 The reason of using PD control instead of PID for the balancing angle is to reject the effect of accumulated errors by integration due to the balancing angle error without knowing the center of gravity of the system. 34,35 The torque of the right wheel τ R and the torque of the left wheel τ L are described as a sum of each controller output such as the balancing angle controller output u θ , the heading angle controller output u φ , and the position controller output u p .…”

Section: Balancing and Navigation Controlmentioning

confidence: 99%

Development of a two-wheel mobile manipulator: balancing and interaction control

Ahn

Jung

2014

Robotica

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This paper focuses on practical application of a mobile manipulator by presenting the development and control of a two-wheel mobile robot with two arms called a balancing service robot (BSR) designated for indoor services. The mobile manipulator requires not only robust balancing position control but also force control to interact with objects. Movements with two wheels are controlled to satisfy stable balancing control for navigation and manipulation with two arms to perform given tasks. The robot is required to deal with external forces to maintain balance. The position-based impedance force control method (the admittance control) is utilized by filtering the force with the impedance function to react to the applied force from the operator. Experimental studies of navigation control under balancing condition and interacting control with a human operator are demonstrated. Experimental results confirm that the robot has smooth reaction against the disturbance induced by the applied external force.

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Section: Balancing and Navigation Controlmentioning

confidence: 99%

Development of a two-wheel mobile manipulator: balancing and interaction control

Ahn

Jung

2014

Robotica

Self Cite

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“…It is one of the classical examples used in connection with feedback control. And it is well known as an effective experiment appliance for control theory and techniques [1][2][3].…”

Section: Introductionmentioning

confidence: 99%

The stabilization and 3D visual simulation of the triple inverted pendulum based on CGA-PIDNN

Zhang

Fan

Zang

et al. 2015

Int. J. Control Autom. Syst.

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Aiming at the triple inverted pendulum which is a strong coupling, multivariable, high-order and unsteady system, a design method of the controller based on PID neural network (PIDNN) optimized by cloud genetic algorithm (CGA) is proposed, this method is called CGA-PIDNN. CGA can be applied to learn and train the PIDNN connection weights. CGA can overcome the defect of the slow convergence rate and premature convergence for genetic algorithm (GA). PIDNN is a simple and normative network which is easy to be realized and has a good dynamic performance. The CGA-PIDNN control system of triple inverted pendulum is verified with MATLAB simulation test. The comparison results with the control effect of PIDNN control system optimized by standard GA (GA-PIDNN) are presented first. Then in LabVIEW environment, by using the combination of virtual reality technology and MATLAB, the three-dimensional (3D) animation simulation model of the triple inverted pendulum CGA-PIDNN control system is built. The simulation results indicate that CGA-PIDNN control method is effective, whose control effects are superior to those by GA-PIDNN control, it is believed that CGA-PIDNN is effective and will become a promising candidate of control methods.

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“…An inverted pendulum type mobile robot is a system that adds mobility to the utilization of a mechanical function to balance the inverted pendulum system [1]. Research related to the control of an inverted pendulum type system has been widely reported [2][3][4][5][6][7][8][9][10][11][12][13]. Furthermore, it is similar to the control scheme of a biped robot created based on the observation that people maintain balance using their two feet while moving to a destination.…”

Section: Introductionmentioning

confidence: 99%

Design of Simple-Structured Fuzzy Logic Systems for Segway-Type Mobile Robot

Yoo

Choi

2015

Int. J. Fuzzy Log. Intell. Syst.

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Studies on the control of the inverted pendulum type system have been widely reported. This is because it is a typical complex nonlinear system and may be a good model for verifying the performance of a proposed control system. In this paper, we propose the design of some fuzzy logic control (FLC) systems for controlling a Segway-type mobile robot, which is an inverted pendulum type system. We first derive a dynamic model of the Segway-type mobile robot and then analyze it in detail. Next, we propose the design of some FLC systems that have good performance for the control of any nonlinear system. Then, we design two conventional FLC systems for the position and balance control of the Segway-type mobile robot, and we demonstrate their usefulness through simulations. Next, we point out the possibility of simplifying the design process and reducing the computational complexity,, which results from the skew symmetric property of the fuzzy control rule tables. Finally, we design two other FLC systems for position and balance control of the Segway-type mobile robot. These systems have only one input variable in the FLC systems. Furthermore, we observe that they offer similar control performance to that of the conventional two-input FLC systems.

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Position control of a mobile inverted pendulum system using radial basis function network

Cited by 36 publications

References 7 publications

Development of a two-wheel mobile manipulator: balancing and interaction control

Development of a two-wheel mobile manipulator: balancing and interaction control

The stabilization and 3D visual simulation of the triple inverted pendulum based on CGA-PIDNN

Design of Simple-Structured Fuzzy Logic Systems for Segway-Type Mobile Robot

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