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Indirect Adaptive Nonlinear Self-Balancing and Station Keeping for Omnidirectional Riding Chair
Ching-Chih Tsai,Yi-Ping Ciou,Feng-Chun Tai,Hsiao-Lang Wu 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper presents indirect adaptive self-balancing and station keeping control methods using recurrent Wavelet Fuzzy CMAC (RWFCMAC) for an omnidirectional ball-driven chair in presence of significant system uncertainties. By backstepping, sliding-mode control and RWFCMAC, the self-balancing controller is synthesized to follow the rider’s inclination angles in both two axes (x-z and y-z axis), and the station-keeping controller is designed to allow the rider to maintain the vehicle at the same place. The RWFCMAC is designed to online learning the uncertainties caused by riders’ weights and different unknown frictions between the ball and terrain surfaces. The superior performance and merit of the proposed control methods are well exemplified by comparing to two existing controllers.