DocumentCode
2989926
Title
Intelligent Neural Sliding Control for Planetary Gear Type Inverted Pendulum Mechanism
Author
Huang, Y.J. ; Hsu, C.Y. ; Kuo, T.C. ; Lin, J.
Author_Institution
Yuan Ze Univ., Jung-Li
fYear
2007
fDate
1-3 Oct. 2007
Firstpage
493
Lastpage
498
Abstract
An intelligent neural sliding controller is developed for planetary train type inverted pendulum mechanism. The control methodology is based on the sliding mode control. The switching function in the normal control law is replaced with a bipolar sigmoid function. A fuzzy neural network is used to identify the pendulum dynamics. Adaptive tuning law is derived. The bipolar sigmoid function is thus adjusted according to the result of the identification process.
Keywords
adaptive control; control system synthesis; fuzzy control; fuzzy neural nets; gears; neurocontrollers; nonlinear control systems; pendulums; variable structure systems; adaptive tuning law; bipolar sigmoid function; fuzzy neural network; intelligent neural sliding mode control; planetary train type gear inverted pendulum; Control systems; Friction; Fuzzy control; Fuzzy neural networks; Gears; Intelligent control; Planets; Robust control; Servomotors; Sliding mode control;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control, 2007. ISIC 2007. IEEE 22nd International Symposium on
Conference_Location
Singapore
ISSN
2158-9860
Print_ISBN
978-1-4244-0440-7
Electronic_ISBN
2158-9860
Type
conf
DOI
10.1109/ISIC.2007.4450935
Filename
4450935
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