DocumentCode
3284405
Title
Multi input single output closed loop identification of two wheel inverted pendulum mobile robot
Author
Jahaya, Junainah ; Nawawi, S.W. ; Ibrahim, Zuwairie
Author_Institution
Fac. of Electr. Eng., Univ. Teknol. Malaysia, Skudai, Malaysia
fYear
2011
fDate
19-20 Dec. 2011
Firstpage
138
Lastpage
143
Abstract
This paper presents system identification process on multi input single output (MISO) closed loop of Two Wheel Inverted Pendulum (TWIP) mobile robot. This study considers 4 linear models, which are ARX, ARMAX, BJ, and OE. The actual input output data is used in the analysis. The ARX model shows the best model for TWIP system.
Keywords
closed loop systems; identification; mobile robots; nonlinear systems; pendulums; wheels; ARMAX; ARX; BJ; MISO; OE; TWIP; multi input single output closed loop identification; two wheel inverted pendulum mobile robot; Analytical models; Correlation; Data models; Estimation; Mathematical model; Mobile robots; System identification; ARMAX; ARX; BJ; OE; system identification;
fLanguage
English
Publisher
ieee
Conference_Titel
Research and Development (SCOReD), 2011 IEEE Student Conference on
Conference_Location
Cyberjaya
Print_ISBN
978-1-4673-0099-5
Type
conf
DOI
10.1109/SCOReD.2011.6148723
Filename
6148723
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