DocumentCode :
3233445
Title :
An adaptive control of two wheel inverted pendulum robot based on particle swarm optimization
Author :
Shamsudin, Mohamad Amir ; Ibrahim, Zuwairie ; Nawawi, Sophan Wahyudi ; Husain, Abdul Rashid ; Abdulla, J.
Author_Institution :
Ahmed Mukred Center of Artificial Intell. (CAIRO), Univ. Teknol. Malaysia, Skudai, Malaysia
fYear :
2011
fDate :
6-8 Dec. 2011
Firstpage :
151
Lastpage :
156
Abstract :
Research on two wheel inverted pendulum (TWIP) robot become an interest of many researcher due to its highly nonlinearity characteristic. TWIP offers extensive research diversity from modeling to control method. In control engineering, tuning of TWIP, which is a linear time invariant (LTI) system, has been well studied. In contrast, this paper emphasizes on time variant system of TWIP. Particle swarm optimization (PSO) is employed for adaptive tuning of the TWIP. To avoid instable problem due to wide search space area used, integral absolute error (IAE) mesh is considered, which is important to ensure that the region where TWIP operates is stable and optimal. Simulation result shows the effectiveness of the proposed approach in enabling online PSO tuning scheme.
Keywords :
adaptive control; mesh generation; mobile robots; nonlinear control systems; particle swarm optimisation; time-varying systems; adaptive control; control engineering; integral absolute error mesh; linear time invariant system; online PSO tuning scheme; particle swarm optimization; time variant system; two wheel inverted pendulum robot; Artificial intelligence; Equations; Mathematical model; Robots; Stability analysis; Torque; Tuning; PSO; integral error; inverted pendulum;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Automation, Robotics and Applications (ICARA), 2011 5th International Conference on
Conference_Location :
Wellington
Print_ISBN :
978-1-4577-0329-4
Type :
conf
DOI :
10.1109/ICARA.2011.6144873
Filename :
6144873
Link To Document :
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