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   Intelligent controllers for velocity tracking of two wheeled inverted pendulum mobile robot  
   
نویسنده bature a.a. ,buyamin s. ,ahmad m.n. ,muhammad m. ,abdullahi a.m.
منبع jurnal teknologi - 2016 - دوره : 78 - شماره : 6-11 - صفحه:1 -7
چکیده    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. © 2016 penerbit utm press. all rights reserved.
کلیدواژه Adaptive neuro-fuzzy inference system (ANFIS); Fuzzy logic control (FLC); Neural network inverse model control; Two wheeled inverted pendulum (TWIP)
آدرس faculty of electrical engineering,universiti teknologi malaysia utm,johor bahru,johor,malaysia,department of electrical engineering,bayero university,kano, Nigeria, faculty of electrical engineering,universiti teknologi malaysia utm,johor bahru,johor, Malaysia, faculty of electrical engineering,universiti teknologi malaysia utm,johor bahru,johor, Malaysia, department of electrical engineering,bayero university,kano, Nigeria, faculty of electrical engineering,universiti teknologi malaysia utm,johor bahru,johor,malaysia,department of electrical engineering,bayero university,kano, Nigeria
 
     
   
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