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Identification and model predictive position control of Two Wheeled Inverted Pendulum mobile robot
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نویسنده
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bature a.a. ,buyamin s. ,ahmad m.n. ,muhammad m. ,muhammad a.a.
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منبع
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jurnal teknologi - 2015 - دوره : 73 - شماره : 6 - صفحه:153 -156
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چکیده
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In order to predict and analyse the behaviour of a real system,a simulated model is needed. the more accurate the model the better the response is when dealing with the real plant. this paper presents a model predictive position control of a two wheeled inverted pendulum robot. the model was developed by system identification using a grey box technique. simulation results show superior performance of the gains computed using the grey box model as compared to common linearized mathematical model. © 2015 penerbit utm press. all rights reserved.
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کلیدواژه
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Grey box model; Model Predictive Control (MPC); Two Wheeled Inverted Pendulum (TWIP)
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آدرس
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universiti teknologi malaysia,johor bahru, Malaysia, universiti teknologi malaysia,johor bahru, Malaysia, universiti teknologi malaysia,johor bahru, Malaysia, department of electrical engineering, Nigeria, department of electrical engineering, Nigeria
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Authors
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