Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2007.10a
- /
- Pages.179-181
- /
- 2007
Position control of a Mobile Inverted Pendulum using RBF network
RBF 신경회로망을 이용한 Mobile Inverted Pendulum의 위치제어
- Noh, Jin-Seok (Intelligent Systems and Emotional Engineering(ISEE) Lab, Chungnam National University) ;
- Lee, Geun-Hysong (Intelligent Systems and Emotional Engineering(ISEE) Lab, Chungnam National University) ;
- Jung, Seul (Intelligent Systems and Emotional Engineering(ISEE) Lab, Chungnam National University)
- 노진석 (충남대학교 메카트로닉스 공학과 지능시스템 및 감성공학 실험실) ;
- 이근형 (충남대학교 메카트로닉스 공학과 지능시스템 및 감성공학 실험실) ;
- 정슬 (충남대학교 메카트로닉스 공학과 지능시스템 및 감성공학 실험실)
- Published : 2007.10.26
Abstract
This paper presents the desired position control of the mobile inverted pendulum system(MIP). The MIP is required to track the circular trajectory in the xy plane through the kinematic Jacobian relationship between the xy plane and the joint space. The reference compensation technique of the radial basis function(RBF) network is used as a neural network control method. The back-propagation teaming algorithm of the RBF network is derived and embedded on a DSP board. Experimental studies of tracking the circular trajectory are conducted.
Keywords