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http://dx.doi.org/10.6109/jkiice.2011.15.3.536

Controller Design of Two Wheeled Inverted Pendulum Type Mobile Robot Using Neural Network  

An, Tae-Hee (부산대학교 전자전기공학과)
Kim, Yong-Baek (부산대학교 전자전기공학과)
Kim, Young-Doo (부산대학교 전자전기공학과)
Choi, Young-Kiu (부산대학교 전자전기공학과)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.15, no.3, 2011 , pp. 536-544 More about this Journal
Abstract
In this paper, a controller for two wheeled inverted pendulum type robot is designed to have more stable balancing capability than conventional controllers. Traditional PID control structure is chosen for the two wheeled inverted pendulum type robot, and proper gains for the controller are obtained for specified user's weights using trial-and-error methods. Next a neural network is employed to generate PID controller gains for more stable control performance when the user's weight is arbitrarily selected. Through simulation studies we find that the designed controller using the neural network is superior to the conventional PID controller.
Keywords
two wheeled inverted pendulum type mobile robot; neural network; balancing control; PID control gain;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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