ANN-based Control of a Wheeled Inverted Pendulum System Using an Extended DBD Learning Algorithm

Cruz David; Garcia Salatiel; Bandala Manuel

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ANN-based Control of a Wheeled Inverted Pendulum System Using an Extended DBD Learning Algorithm

机译：使用扩展DBD学习算法的轮式倒立摆系统控制基于ANN的控制

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This paper presents a dynamic model for a self-balancing vehicle using the Euler-Lagrange approach. The design and deployment of an artificial neuronal network (ANN) in a closed-loop control is described. The ANN is characterized by integration of the extended delta-bar-delta algorithm (DBD), which accelerates the adjustment of synaptic weights. The results of the control strategy in the dynamic model of the robot are also presented.

机译：本文介绍了使用欧拉拉格兰朗法方法的自平衡车辆的动态模型。描述了在闭环控制中的人工神经元网络（ANN）的设计和部署。 ANN的特征在于集成扩展Δ-Bar-Delta算法（DBD），其加速了突触权重的调整。还介绍了机器人动态模型中控制策略的结果。

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来源
《International Journal of Advanced Robotic Systems》 |2016年第2016期|共11页
作者
Cruz David; Garcia Salatiel; Bandala Manuel;
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作者单位

Ctr Ingn &

Desarrollo Ind CIDESI Queretaro Queretaro Mexico;

Ctr Ingn &

Desarrollo Ind CIDESI Queretaro Queretaro Mexico;

Ctr Ingn &

Desarrollo Ind CIDESI Queretaro Queretaro Mexico;

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原文格式 PDF
正文语种 eng
中图分类机器人技术;
关键词
Self-balancing Robot; Extended Delta-bar-delta Algorithm; Artificial Neuronal Network; Euler-Lagrange;

机译：自平衡机器人;扩展Δ-bar-delta算法;人工神经元网络;euler-lagrange;

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专利

1. ANN-based Control of a Wheeled Inverted Pendulum System Using an Extended DBD Learning Algorithm [J] . Cruz David, Garcia Salatiel, Bandala Manuel International Journal of Advanced Robotic Systems . 2016,第期

机译：使用扩展DBD学习算法的轮式倒立摆系统控制基于ANN的控制
2. Sliding-Mode Velocity Control of Mobile-Wheeled Inverted-Pendulum Systems [J] . Huang J., Guan Z., Matsuno T., Robotics, IEEE Transactions on . 2010,第4期

机译：机动倒立摆系统的滑模速度控制
3. Nonlinear Optimal Control for the Wheeled Inverted Pendulum System [J] . Rigatos G., Busawon Krishna, Pomares Jorge, Robotica . 2020,第1期

机译：轮式倒立摆系统的非线性最优控制
4. Super twisting control algorithm for Velocity Control of Mobile Wheeled Inverted Pendulum Systems [C] . Mengshi Zhang, Jian Huang, Fei Chen IEEE Workshop on Advanced Robotics and its Social Impacts . 2018

机译：轮式倒立摆系统速度控制的超扭曲控制算法
5. Development of Clusterwheel Balancing Robots and Methods for Improving Performance of Wheeled Inverted Pendulum Machines. [D] . Vasudevan, Hari. 2015

机译：机轮平衡机器人的发展以及提高轮式倒立摆机性能的方法。
6. Indoor Autonomous Control of a Two-Wheeled Inverted Pendulum Vehicle Using Ultra Wide Band Technology [O] . Dunzhu Xia, Yanhong Yao, Limei Cheng 2017

机译：采用超宽带技术的两轮倒立摆车的室内自主控制
7. ANN-Based Control of a Wheeled Inverted Pendulum System Using an Extended DBD Learning Algorithm [O] . David Cruz, Salatiel García, Manuel Bandala 2016

机译：基于人工神经网络的轮式倒立摆系统控制的扩展DBD学习算法
8. Learning control of inverted pendulum system by neural network driven fuzzy reasoning: The learning function of NN-driven fuzzy reasoning under changes of reasoning environment [R] . Hayashi, Isao, Nomura, Hiroyoshi, Wakami, Noboru 1991

机译：基于神经网络驱动模糊推理的倒立摆系统学习控制：推理环境变化下NN驱动模糊推理的学习功能

ANN-based Control of a Wheeled Inverted Pendulum System Using an Extended DBD Learning Algorithm

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