http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Position and Angle Control for a Two-wheel Robot
Chih-Hui Chiu,Ya-Fu Peng 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.5
In this paper, a two-wheel robot (TWR) system is implemented based on a position and angle decoupledintelligent backstepping control system. The decoupled method provides a simple method to achieve asymptoticstability control for a fourth-order nonlinear TWR system using a second-order dynamics model. Moreover, adaptiveoutput recurrent cerebellar model articulation control (AORCMAC) is designed in this study to imitate an idealbackstepping controller (IBC). Furthermore, to compensate for the difference between the two controllers mentioned,a compensator is used. Based on the Lyapunov stability method, the stability of the closed-loop system canbe guaranteed. To train the AORCMAC effectively, the variable learning rates that guarantee the convergence ofthe system are proposed. Finally, simulation and experimental results demonstrate the effectiveness of the proposedcontrol method for TWR control.