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Control experiment of a wheeled drive mobile pendulum using neural network

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8 Author(s)
Sung-su Kim ; Dept. of Mechatronics Eng., Chungnam Nat. Univ., Daejon, South Korea ; Tae In Kim ; Keun Sang Jang ; Seul Jung
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In this paper, control of a wheeled drive mobile pendulum system is presented. The inverted pendulum mounted on the wheeled drive mobile robot is controlled by neural network. Neural network learning algorithm is embedded on a DSP board and controls the angle of the pendulum and the position of the mobile robot along with PID controllers. Uncertainties in system dynamics are compensated by neural network in on-line fashion. Experimental results show that the performance of balancing of the pendulum and position tracking of the mobile robot is successful.

Published in:

Industrial Electronics Society, 2004. IECON 2004. 30th Annual Conference of IEEE  (Volume:3 )

Date of Conference:

2-6 Nov. 2004