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http://dx.doi.org/10.6109/jkiice.2012.16.3.432

Implementation of Balancing Control System for Two Wheeled Inverted Pendulum Robot  

An, Tae-Hee (부산대학교 전자전기공학과)
Park, Jin-Hyun (경남과학기술대학교 메카트로닉스공학과)
Choi, Young-Kiu (부산대학교 전자전기공학부)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.16, no.3, 2012 , pp. 432-439 More about this Journal
Abstract
In this paper, instead of the conventional PD controller for balancing control of two wheeled inverted pendulum robots, an improved PD controller using the neural network is proposed and implemented for performance verification. First, a two wheeled inverted pendulum robot system is constructed for experiment. Next proper gains of the conventional PD controller according to users' weights are obtained for balancing the robot by use of the trial and error method. The PD gains based on the trial and error method are generalized through the neural network. Experiment results show that the PD controller based on the neural network has better performance than the conventional PD controller.
Keywords
two wheeled inverted pendulum robot; balancing control; PD controller; neural network;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
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