Speed governing behavior on parallel two-wheeled electric scooter by life-sized humanoid robot based on learning control with online tuning for PID gain during control

Speed governing behavior on parallel two-wheeled electric scooter by life-sized humanoid robot based on learning control with online tuning for PID gain during control

This paper proposes the online learning controller for PID gain tuning to regulate the speed of robot on parallel two-wheeled electric scooter. We define this speed regulation as “speed governing behavior”. The proposed system based on Iterative Feedback Tuning (IFT) contributes the online continuit...

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Bibliographic Details
Main Authors: Kohei KIMURA, Hiroto MIZOHANA, Shunichi NOZAWA, Kei OKADA, Masayuki INABA
Format: Article
Language:Japanese
Published: The Japan Society of Mechanical Engineers 2018-06-01
Series:Nihon Kikai Gakkai ronbunshu
Subjects:
online learning control
pid controller
iterative feedback tuning
anti-windup
humanoid robot
Online Access:https://www.jstage.jst.go.jp/article/transjsme/84/864/84_18-00032/_pdf/-char/en

Internet

https://www.jstage.jst.go.jp/article/transjsme/84/864/84_18-00032/_pdf/-char/en

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