Title :
Multi input single output closed loop identification of two wheel inverted pendulum mobile robot
Author :
Jahaya, Junainah ; Nawawi, S.W. ; Ibrahim, Zuwairie
Author_Institution :
Fac. of Electr. Eng., Univ. Teknol. Malaysia, Skudai, Malaysia
Abstract :
This paper presents system identification process on multi input single output (MISO) closed loop of Two Wheel Inverted Pendulum (TWIP) mobile robot. This study considers 4 linear models, which are ARX, ARMAX, BJ, and OE. The actual input output data is used in the analysis. The ARX model shows the best model for TWIP system.
Keywords :
closed loop systems; identification; mobile robots; nonlinear systems; pendulums; wheels; ARMAX; ARX; BJ; MISO; OE; TWIP; multi input single output closed loop identification; two wheel inverted pendulum mobile robot; Analytical models; Correlation; Data models; Estimation; Mathematical model; Mobile robots; System identification; ARMAX; ARX; BJ; OE; system identification;
Conference_Titel :
Research and Development (SCOReD), 2011 IEEE Student Conference on
Conference_Location :
Cyberjaya
Print_ISBN :
978-1-4673-0099-5
DOI :
10.1109/SCOReD.2011.6148723
