Adaptive Control of Wheeled Inverted Pendulum Mobile Robot using Fuzzy Disturbance Observer
محل انتشار: بیست و یکمین کنفرانس مهندسی برق ایران
سال انتشار: 1392
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 1,059
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شناسه ملی سند علمی:
ICEE21_238
تاریخ نمایه سازی: 27 مرداد 1392
چکیده مقاله:
This paper presents an adaptive fuzzy trajectory tracking control schemes for a wheeled inverted pendulum mobile robot (WIP) in presence of parametric uncertainties and external disturbances. First a virtual output is defined for overcoming underactuated property of the system. Then feedback linearization technique is applied to dynamic of system. A damping term is designed through LQG method to damp oscillation which caused by definition of virtual output and is added to control law. After that disturbances and parametric uncertainties are compensated by use of fuzzy disturbance observer. The computer simulations illustrate the performance of proposed controller.
کلیدواژه ها:
Adaptive Trajectory Tracking ، Wheeled Inverted Pendulum Robot ، Fuzzy Disturbance Observer ، Underactuated Nonlinear System
نویسندگان
Amirkhosro Vosughi
Electrical Engineering Department, Iran University of Science & Technology
Alireza Mohammad Shahri
Electrical Engineering Department, Iran University of Science & Technology