Universiti Teknologi Malaysia Institutional Repository

Intelligent controllers for velocity tracking of two wheeled inverted pendulum mobile robot

Bature, A. A. and Buyamin, S. and Ahmad, M. N. and Muhammad, M. and Abdullahi, A. M. (2016) Intelligent controllers for velocity tracking of two wheeled inverted pendulum mobile robot. Jurnal Teknologi, 78 (6-11). pp. 1-7. ISSN 0127-9696

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Abstract

Velocity tracking is one of the important objectives of vehicle, machines and mobile robots. A two wheeled inverted pendulum (TWIP) is a class of mobile robot that is open loop unstable with high nonlinearities which makes it difficult to control its velocity because of its nature of pitch falling if left unattended. In this work, three soft computing techniques were proposed to track a desired velocity of the TWIP. Fuzzy Logic Control (FLC), Neural Network Inverse Model control (NN) and an Adaptive Neuro-Fuzzy Inference System (ANFIS) were designed and simulated on the TWIP model. All the three controllers have shown practically good performance in tracking the desired speed and keeping the robot in upright position and ANFIS has shown slightly better performance than FLC, while NN consumes more energy.

Item Type:Article
Uncontrolled Keywords:adaptive neuro-fuzzy inference system (ANFIS), fuzzy logic control (FLC), neural network inverse model control, two wheeled inverted pendulum (TWIP)
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:71192
Deposited By: Narimah Nawil
Deposited On:15 Nov 2017 04:35
Last Modified:15 Nov 2017 04:35

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