Intelligent controllers for velocity tracking of two wheeled inverted pendulum mobile robot
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 i...
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| Format: | Conference or Workshop Item |
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2015
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| author | Bature, Amir Abdullahi Buyamin, Salinda Ahmad @ Mohd. Sanif, Mohamad Noh Muhammad, Mustapha Muhammad, Auwalu Abdullahi |
| author_facet | Bature, Amir Abdullahi Buyamin, Salinda Ahmad @ Mohd. Sanif, Mohamad Noh Muhammad, Mustapha Muhammad, Auwalu Abdullahi |
| author_sort | Bature, Amir Abdullahi |
| collection | ePrints |
| description | 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. |
| first_indexed | 2024-03-05T19:49:14Z |
| format | Conference or Workshop Item |
| id | utm.eprints-60748 |
| institution | Universiti Teknologi Malaysia - ePrints |
| last_indexed | 2024-03-05T19:49:14Z |
| publishDate | 2015 |
| record_format | dspace |
| spelling | utm.eprints-607482017-08-03T04:39:20Z http://eprints.utm.my/60748/ Intelligent controllers for velocity tracking of two wheeled inverted pendulum mobile robot Bature, Amir Abdullahi Buyamin, Salinda Ahmad @ Mohd. Sanif, Mohamad Noh Muhammad, Mustapha Muhammad, Auwalu Abdullahi TK Electrical engineering. Electronics Nuclear engineering 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. 2015 Conference or Workshop Item PeerReviewed Bature, Amir Abdullahi and Buyamin, Salinda and Ahmad @ Mohd. Sanif, Mohamad Noh and Muhammad, Mustapha and Muhammad, Auwalu Abdullahi (2015) Intelligent controllers for velocity tracking of two wheeled inverted pendulum mobile robot. In: 1st ICRIL-International Conference on Innovation in Science and Technology (IICIST 2015), 20 April, 2015, Kuala Lumpur, Malaysia. http://dx.doi.org/10.11113/jt.v78.9174 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Bature, Amir Abdullahi Buyamin, Salinda Ahmad @ Mohd. Sanif, Mohamad Noh Muhammad, Mustapha Muhammad, Auwalu Abdullahi Intelligent controllers for velocity tracking of two wheeled inverted pendulum mobile robot |
| title | Intelligent controllers for velocity tracking of two wheeled inverted pendulum mobile robot |
| title_full | Intelligent controllers for velocity tracking of two wheeled inverted pendulum mobile robot |
| title_fullStr | Intelligent controllers for velocity tracking of two wheeled inverted pendulum mobile robot |
| title_full_unstemmed | Intelligent controllers for velocity tracking of two wheeled inverted pendulum mobile robot |
| title_short | Intelligent controllers for velocity tracking of two wheeled inverted pendulum mobile robot |
| title_sort | intelligent controllers for velocity tracking of two wheeled inverted pendulum mobile robot |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
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