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http://dx.doi.org/10.5302/J.ICROS.2016.15.0101

Neuro-fuzzy Control for Balancing a Two-wheel Mobile Robot  

Park, Young Jun (Department of Mechatronics Engineering, Chungnam National University)
Jung, Seul (Department of Mechatronics Engineering, Chungnam National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.1, 2016 , pp. 40-45 More about this Journal
Abstract
This paper presents the neuro-fuzzy control method for balancing a two-wheel mobile robot. A two-wheel mobile robot is built for the experimental studies. On-line learning algorithm based on the back-propagation(BP) method is derived for the Takagi-Sugeno(T-S) neuro-fuzzy controller. The modified error is proposed to learn the B-P algorithm for the balancing control of a two-wheel mobile robot. The T-S controller is implemented on a DSP chip. Experimental studies of the balancing control performance are conducted. Balancing control performances with disturbance are also conducted and results are evaluated.
Keywords
T-S neuro-fuzzy control; balancing control; two-wheel mobile robot;
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Times Cited By KSCI : 1  (Citation Analysis)
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