PROJECT TITLE :
Neural-Adaptive Output Feedback Control of a Class of Transportation Vehicles Based on Wheeled Inverted Pendulum Models
The wheeled inverted pendulum (WIP) models have been widely applied within the transportation vehicles shaped by a mobile wheeled inverted pendulum system with an operator (demonstrated in Fig. 1 ). In this paper, we specialize in the study of nonlinear control design for the WIP model-primarily based vehicles, for that correct dynamics might not be obtained beforehand thanks to the presence of uncertainties caused by the human operator further because the vehicle. We tend to develop an output feedback adaptive neural network (NN) management incorporating a linear dynamic compensator to attain stable dynamic balance and tracking of the required given trajectories. Comparison simulation studies demonstrate guaranteed tracking performance and stable dynamics balance within the presence of uncertainties and so verify the efficiency of the developed nonlinear controller.
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