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The Study On The Identification And The Intellectual Control For An Unstable Two-wheeled Vehicle

Posted on:2008-03-04Degree:MasterType:Thesis
Country:ChinaCandidate:L J FangFull Text:PDF
GTID:2178360212974487Subject:Control theory and control engineering
Abstract/Summary:PDF Full Text Request
The natural unstable two-wheel vehicle is a special kind of wheeled mobile robot. Its dynamics equations are multi-variable,non-linear,strong-coupling with uncertain parameters. It has become an ideal set for testing various control methods.At first, the development of the two-wheel self-balanced vehicle is introduced and summarized. The hardware of the two-wheel vehicle is designed and the related motor,sensors and computer controller are chosen. The related circuits are also designed and a two-wheel vehicle set is set up.Modeling has been a difficult problem for the complicated system for a long time. To solve this problem, the recursive prediction error method and the least square method are used to identify the model of a medium servo system successfully. During the identification of the two-wheeled self-balanced vehicle, some parameters are got, the experience is summarized, and some advice is given for the identification afterwards.Then the system's non-linear math model is given and analyzed. The paper introduces some contents of the intellectual control, and finds that the intellectual controller will be suitable for the system.Studying the data from three state-feedback controllers, the adaptive neural-fuzzy inference system is used to get an adaptive neural-fuzzy controller which is used to control the vehicle's balance, and finds it could improve the control range. In order to improve the system's dynamic performances, the dynamic fuzzy controller is used and a better control effect is got. Then use the adaptive neural-fuzzy inference system again to study the data from the control system which includes the dynamic fuzzy controller, a final adaptive neural-fuzzy controller is got. It not only improves the control range, but also improves the system's dynamic performances.
Keywords/Search Tags:two-wheel self-balanced vehicle, system identification, fuzzy control, Adaptive neural-fuzzy control, dynamic fuzzy control
PDF Full Text Request
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