Support Vector Machine based optimal control for mobile wheeled inverted pendulums with dynamics uncertainties

Author

Li, Zhijun ; Yang, Kun ; Yang, Yipeng

Author_Institution

Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China

fYear

2009

fDate

15-18 Dec. 2009

Firstpage

5592

Lastpage

5597

Abstract

The balance and motion control based on LS-SVM (least squares support vector machine) are considered for mobile wheeled inverted pendulums (WIP), in the presence of parametric and functional dynamics uncertainties. Based on Lyapunov synthesis, the proposed control mechanisms use the advantage of LS-SVM combined with on-line parameters estimation strategy in order to have an efficient approximation. Simulation results are presented to verify the effectiveness of the proposed LS-SVM based control.

Keywords

Lyapunov methods; control system synthesis; least squares approximations; mobile robots; motion control; nonlinear control systems; optimal control; parameter estimation; support vector machines; LS-SVM based control; Lyapunov synthesis; balance control; functional dynamics uncertainty; least squares support vector machine; mobile wheeled inverted pendulum; motion control; on-line parameters estimation; optimal control; parametric dynamics uncertainty; Bibliographies; Control theory; Design engineering; Information analysis; Job shop scheduling; Optimal control; Support vector machines; Three-term control; Transfer functions; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Conference_Location

Shanghai

ISSN

0191-2216

Print_ISBN

978-1-4244-3871-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2009.5399976

Filename

5399976