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MODELING, SIMULATION AND NEURAL CONTROL OF WHEELED INVERTED PENDULUM

Pages: 51 – 59

Muhammad Yasir Amir Khan and Vali Uddin Abbas

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.

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