Journal of Industrial Technology (산업기술연구)
- Volume 18
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- Pages.303-308
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- 1998
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- 1229-9588(pISSN)
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- 1598-1371(eISSN)
Control of the Attitude of a Wheeled Inverted Pendulum
차륜형 도립진자의 자세 제어
- Published : 1998.12.31
Abstract
In this paper a neural network controller called "Feedback-State Learning" for control of the attitude of a wheeled inverted pendulum is presented. For the controller the design of a stable feedback controller is necessary, so the LQR is used for the feedback controller because the LQR has good performance on controlling nonlinear systems. And the neural networks are used for a feed forward controller. The designed controller is applied to the stabilization of a wheeled inverted pendulum. Because of its nonlinear characteristics such as friction and parameter variations in the linearization, the wheeled inverted pendulum is used for demonstration of the effectiveness of the proposed controller.