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

Content Provider	Springer Nature Link
Author	Noh, Jin Seok Lee, Geun Hyung Jung, Seul
Copyright Year	2010
Abstract	This article presents the implementation of position control of a mobile inverted pendulum (MIP) system by using the radial basis function (RBF) network. The MIP has two wheels to move on the plane and to balance the pendulum. The MIP is a nonlinear system whose dynamics is nonholonomic. The goal of this study was to control the MIP to maintain the balance of the pendulum while tracking a desired position of the cart. The reference compensation technique scheme is used as a neural network control method for the MIP. The back-propagation learning algorithm of the RBF network is derived for online 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 desired position of the MIP.
Starting Page	157
Ending Page	162
Page Count	6
File Format	PDF
ISSN	15986446
Journal	International Journal of Control, Automation and Systems
Volume Number	8
Issue Number	1
e-ISSN	20054092
Language	English
Publisher	Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Publisher Date	2010-02-17
Publisher Place	Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Balancing robot mobile robot system neural network control Control Robotics Mechatronics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications

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