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- Title
ANN-based Control of a Wheeled Inverted Pendulum System Using an Extended DBD Learning Algorithm.
- Authors
Cruz, David; García, Salatiel; Bandala, Manuel
- Abstract
This paper presents a dynamic model for a self-balancing vehicle using the Euler-Lagrange approach. The design and deployment of an artificial neuronal network (ANN) in a closed-loop control is described. The ANN is characterized by integration of the extended delta-bar-delta algorithm (DBD), which accelerates the adjustment of synaptic weights. The results of the control strategy in the dynamic model of the robot are also presented.
- Subjects
ARTIFICIAL neural networks; MACHINE learning; ROBOT dynamics; DYNAMIC models; EULER-Lagrange system; CLOSED loop systems
- Publication
International Journal of Advanced Robotic Systems, 2016, Vol 13, Issue 3, p1
- ISSN
1729-8806
- Publication type
Article
- DOI
10.5772/63485