教師資料查詢 | 類別: 會議論文 | 教師: 許駿飛 Hsu, Chun-Fei (瀏覽個人網頁)

標題:Decoupled fuzzy sliding-mode balance control of wheeled inverted pendulums using an 8-bit microcontroller
學年100
學期2
發表日期2012/03/14
作品名稱Decoupled fuzzy sliding-mode balance control of wheeled inverted pendulums using an 8-bit microcontroller
作品名稱(其他語言)
著者Hsu, Chun-Fei; Liu, Chin-Yi
作品所屬單位淡江大學電機工程學系
出版者
會議名稱International MultiConference of Engineers and Computer Scientists 2012(IMECS 2012)
會議地點Hong Kong
摘要A wheeled inverted pendulum (WIP) system is a
typical unstable complex nonlinear system widely utilized for educational purposes and control research. The dynamic of a WIP system can be represented as two second-order subsystems
which represent the angle of body and the position of wheel. This paper proposes a decoupled fuzzy sliding-mode balance control (DFSBC) system based on a time-varying sliding surface for a WIP system. A decoupled sliding surface which includes
the information of two-subsystem is designed to make the state trajectories of both subsystems move toward their sliding surface and then simultaneously approach zeros. The control effort of a WIP system is generated based on the idea that the state can quickly reach the decoupled sliding surface without large overshoot. Moreover, the slope of the decoupled sliding surface is adjusted by a fuzzy system, whose fuzzy rules are
constructed based on the idea that the convergence time of the state trajectories can be reduced. Finally, an 8-bit microcontroller-based WIP system is setup. Experimental results show that the proposed DFSBC system can achieve favorable balance control response for the simultaneous control of the angle of body and the position of wheel.
關鍵字wheeled inverted pendulums
語言英文
收錄於
會議性質國際
校內研討會地點
研討會時間20120314~20120316
通訊作者Hsu, Chun-Fei
國別香港
公開徵稿Y
出版型式紙本
出處Proceedings of the International MultiConference of Engineers and Computer Scientists 2012 II, pp.823-827
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