Control experiment of a wheel-driven mobile inverted pendulum using neural network

IEEE Transactions on Control Systems Technology

Volumn 16, Issue 2, 2008, Pages 297-303

  Jung, Seul ^a   Kim, Sung Su ^a,b  

^a Chungnam National University   (South Korea)

^b Agency for Defence Development   (South Korea)

Author keywords

Mobile pendulum; Neural network control

Indexed keywords

INTELLIGENT CONTROL; LEARNING ALGORITHMS; NEURAL NETWORKS; REAL TIME CONTROL; ROBUSTNESS (CONTROL SYSTEMS); THREE TERM CONTROL SYSTEMS;

MOBILE PENDULUM; NEURAL NETWORK CONTROL;

PENDULUMS;

EID: 40949134740     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2007.903396     Document Type: Article

References (17)

1. T. H. Hung, M. F. Yeh, and H. C. Lu, "A PI-like fuzzy controller implementation for the inverted pendulum system," in Proc. IEEE Conf. Intell. Process. Syst., 1997, pp. 218-222.
2. M. E. Magana and F. Holzapfel, "Fuzzy-logic control of an inverted pendulum with vision feedback," IEEE Trans. Education, vol. 41, no. 2, pp. 165-170, May 1998.
3. S. S. Kim and S. Jung, "Hardware implementation of a real time neural network controller with a DSP and an FPGA board," in Proc. IEEE ICRA 2004, pp. 4639-4644.
4. F. Cheng, G. Zhong, Y. Li, and Z. Xu, "Fuzzy control of a double inverted pendulum," Fuzzy Sets Syst., vol. 79, pp. 315-321, 1996.
5. M. W. Spong, P. Corke, and R. Lozano, "Nonlinear control of the inertia wheel pendulum," Automatica, vol. 37, pp. 1845-1851, 2001.
6. M. W. Spong, "The swing up control problem for the acrobat," IEEE Control Syst. Mag., vol. 15, no. 2, pp. 72-79, Feb. 1995.
7. W. White and R. Fales, "Control of double inverted pendulum with hydraulic actuation: A case study," in Proc. Amer. Control Conf., 1999, pp. 495-499.
8. S. Jung and H. T. Cho, "Decentralized neural network reference compensation technique for PD, controlled two degrees of freedom inverted pendulum," Int. J. Control, Autom., Syst., vol. 2, no. 1, pp. 92-99, 2004.
9. H. Fer and D. Enns, "An application of dynamic inversion to stabilization of a triple inverted pendulum on a cart," in Proc. IEEE Conf. Control Appl., 1996, pp. 708-714.
10. H. T. Cho and S. Jung, "Neural network position tracking control of an inverted pendulum by an x-y table robot," in Proc. IEEE IROS 2003, pp. 1210-1215.
11. J. Shen, A. K. Samyal, N. Chaturvedi, D. Bernstein, and H. McClamroch, "Dynamics and control of a 3 D pendulum," in Proc. IEEE Conf. Dec. Control, 2004, pp. 323-328.
12. F. Grasser, A. Darrigo, S. Colombi, and A. Rufer, "JOE: A mobile, inverted pendulum," IEEE Trans. Ind. Electron., vol. 49, no. 1, pp. 107-114, Feb. 2002.
13. K. Pathak, J. Franch, and S. Agrawal, "Velocity and position control of a wheeled inverted pendulum by partial feedback linearization," IEEE Trans. Robot., vol. 21, no. 3, pp. 505-513, Jun. 2005.
14. H. Tirmant, M. Balch, L. Vermeiren, T. M. Guerra, and M. Parent, "B2, an alternative two wheeled vehicle for an automated urban transportation system," in Proc. IEEE Intell. Veh. Symp., 2002, pp. 594-603.
15. R. O. Ambrose, R. T. Savely, S. M. Goza, P. Strawser, M. A. Diftler, I. Spain, and N. Radford, "Mobile manipulation using NASA's robonaut," in Proc. IEEE ICRA, 2004, pp. 2104-2109.
16. S. Jung and T. C. Hsia, "Neural network inverse control techniques for PD controlled robot manipulator," ROBOTICA, vol. 19, no. 3, pp. 305-314, 2002.
17. M. Miyamoto, M. Kawato, T. Setoyama, and R. Suzuki, "Feedback error learning," IEEE Trans. Neural Netw., vol. 1, pp. 251-265, 1988.