ANN-Based Control of a Wheeled Inverted Pendulum System Using an Extended DBD Learning Algorithm. (24th May 2016)

• Record Type: Journal Article
• Authors: Cruz, David; García, Salatiel; Bandala, Manuel
• Is Part Of: International journal of advanced robotic systems. Volume 13:Number 3(2016)
• Publication Date: 2016-05-24
• Subjects: Self-balancing Robot -- Extended Delta-bar-delta Algorithm -- Artificial Neuronal Network -- Euler-Lagrange; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/63485
• Languages: English
• ISSNs: 1729-8806

Abstract

This paper presents a dynamic model for a self-balancing vehicle using the Euler-Lagrange approach. The design and deployment of an artificial neuronal network (ANN) in a closed-loop control is described. The ANN is characterized by integration of the extended delta-bar-delta algorithm (DBD), which accelerates the adjustment of synaptic weights. The results of the control strategy in the dynamic model of the robot are also presented.