Abstract
Wheeled inverted pendulum (WIP) is an underactuated and a highly unstable system. In this paper we have proposed modelling and control of WIP as hybrid automaton based on torque equations rather than Lagrangian method. The model was simulated using Simulink using Direct Inverse Neural Control (DINC) to control the WIP system using the hybrid automaton based strategy so as to keep it at upright position. Simulation results reveal that control scheme is sufficiently able to control the system at desired position but with slight steady state error which was found to reduce with the increasing sampling rate.
Recommended Citation
Amir Khan, Muhammad Yasir and Abbas, Vali Uddin
(2015),
MODELING, SIMULATION AND NEURAL CONTROL OF WHEELED INVERTED PENDULUM,
Yanbu Journal of Engineering and Science: Vol. 11:
Iss.
1, 51-59.
DOI: https://doi.org/10.53370/001c.24296
Available at:
https://yjes.researchcommons.org/yjes/vol11/iss1/6
