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http://dx.doi.org/10.5391/JKIIS.2010.20.5.652

Neural Network Control of a Two Wheeled Mobile Inverted Pendulum System with Two Arms  

Noh, Jin-Seok (충남대학교 메카트로닉스공학과 지능 시스템 및 감성공학 실험실)
Kim, Hyun-Wook (충남대학교 메카트로닉스공학과 지능 시스템 및 감성공학 실험실)
Jung, Seul (충남대학교 메카트로닉스공학과 지능 시스템 및 감성공학 실험실)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.20, no.5, 2010 , pp. 652-658 More about this Journal
Abstract
This paper presents the implementation and control of a two wheeled mobile robot(TWMR) based on a balancing mechanism. The TWMR is a mobile inverted pendulum structure that combines an inverted pendulum system and a mobile robot system with two arms instead of a rod. To improve robustness due to disturbances, the radial basis function (RBF) network is used to control an angle and a position at the same time. The reference compensation technique(RCT) is used as a neural control method. Experimental studies are conducted to demonstrate performance of neural network controllers. The robot are implemented with the remote control capability.
Keywords
Two wheeled mobile robot; neural network control; RCT;
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