Position control of a mobile inverted pendulum system using radial basis function network

This article presents the implementation of position control of a mobile inverted pendulum(MIP) system by using the radial basis function network(RBF). The MIP has two wheels to move on the plane and to balance the pendulum. The MIP is known as a nonlinear system whose dynamics is non-holonomic. The goal is to control the MIP to maintain the balance of the pendulum while tracking a desired position of the cart. The reference compensation technique (RCT) scheme is used as a neural network control method to control the MIP. The back propagation learning algorithm for the RBF network is derived for on-line learning and control. The control algorithm has been embedded on a DSP 2812 board to achieve real-time control. Experimental results are conducted and show successful control performances of both balancing and tracking the position of the MIP.