Experimental studies of neural network control for one-wheel mobile robot
type: Item
instance of: scholarly article
title: Experimental studies of neural network control for one-wheel mobile robot
zbMATH Open document ID: 1248.93118
DOI: 10.1155/2012/194397
published in: Journal of Control Science and Engineering
publication date: 2012-09-06T00:00:00Z
review text: Summary: This paper presents development and control of a disc-typed one-wheel mobile robot, called GYROBO. Several models of the one-wheel mobile robot are designed, developed, and controlled. The current version of GYROBO is successfully balanced and controlled to follow the straight line. GYROBO has three actuators to balance and move. Two actuators are used for balancing control by virtue of gyro effect and one actuator for driving movements. Since the space is limited and weight balance is an important factor for the successful balancing control, careful mechanical design is considered. To compensate for uncertainties in robot dynamics, a neural network is added to the nonmodel-based PD-controlled system. The Reference Compensation Technique (RCT) is used for the neural network controller to help GYROBO to improve balancing and tracking performances. Experimental studies of a self-balancing task and a line tracking task are conducted to demonstrate the control performances of GYROBO.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93C41
zbMATH DE Number: 6078141
zbMATH Keywords: disc-typed one-wheel mobile robot
zbMATH Keywords: balancing control
zbMATH Keywords: uncertainties in robot dynamics
zbMATH Keywords: neural networks
zbMATH Keywords: PD-controlled system
zbMATH Keywords: reference compensation technique (RCT)
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2012/194397
OpenAlex ID: W2010286206
Wikidata QID: Q58907921
cites work: Control of single wheel robots.
author: P. K. Kim
author: S. Jung
description: scientific article; zbMATH DE number 6078141