Experimental Studies of Neural Network Control for One-Wheel Mobile Robot
Joint Authors
Source
Journal of Control Science and Engineering
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-04-30
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
This paper presents development and control of a disc-typed one-wheel mobile robot, called GYROBO.
Several models of the one-wheel mobile robot are designed, developed, and controlled.
The current version of GYROBO is successfully balanced and controlled to follow the straight line.
GYROBO has three actuators to balance and move.
Two actuators are used for balancing control by virtue of gyro effect and one actuator for driving movements.
Since the space is limited and weight balance is an important factor for the successful balancing control, careful mechanical design is considered.
To compensate for uncertainties in robot dynamics, a neural network is added to the nonmodel-based PD-controlled system.
The reference compensation technique (RCT) is used for the neural network controller to help GYROBO to improve balancing and tracking performances.
Experimental studies of a self-balancing task and a line tracking task are conducted to demonstrate the control performances of GYROBO.
American Psychological Association (APA)
Kim, P. K.& Jung, Seul. 2012. Experimental Studies of Neural Network Control for One-Wheel Mobile Robot. Journal of Control Science and Engineering،Vol. 2012, no. 2012, pp.1-12.
https://search.emarefa.net/detail/BIM-453513
Modern Language Association (MLA)
Kim, P. K.& Jung, Seul. Experimental Studies of Neural Network Control for One-Wheel Mobile Robot. Journal of Control Science and Engineering No. 2012 (2012), pp.1-12.
https://search.emarefa.net/detail/BIM-453513
American Medical Association (AMA)
Kim, P. K.& Jung, Seul. Experimental Studies of Neural Network Control for One-Wheel Mobile Robot. Journal of Control Science and Engineering. 2012. Vol. 2012, no. 2012, pp.1-12.
https://search.emarefa.net/detail/BIM-453513
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-453513