English  |  正體中文  |  简体中文  |  Items with full text/Total items : 49288/83828 (59%)
Visitors : 7158982      Online Users : 75
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
Scope Tips:
  • please add "double quotation mark" for query phrases to get precise results
  • please goto advance search for comprehansive author search
  • Adv. Search
    HomeLoginUploadHelpAboutAdminister Goto mobile version
    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/81329


    Title: Decoupled fuzzy sliding-mode balance control of wheeled inverted pendulums using an 8-bit microcontroller
    Authors: Hsu, Chun-Fei;Liu, Chin-Yi
    Contributors: 淡江大學電機工程學系
    Keywords: wheeled inverted pendulums
    Date: 2012-03-15
    Issue Date: 2013-03-10 10:18:36 (UTC+8)
    Abstract: 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.
    Relation: Proceedings of the International MultiConference of Engineers and Computer Scientists 2012 II, pp.823-827
    Appears in Collections:[電機工程學系暨研究所] 會議論文

    Files in This Item:

    File Description SizeFormat
    IMECS2012_pp823-827.pdf646KbAdobe PDF153View/Open

    All items in 機構典藏 are protected by copyright, with all rights reserved.


    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library & TKU Library IR teams. Copyright ©   - Feedback