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Adaptive Intelligent Systems applied to two-wheeled robot and the effect of different terrains on performance

机译:适用于两轮机器人的自适应智能系统以及不同地形对性能的影响

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摘要

This work discuss two different intelligent controllers: Online Neuro Fuzzy Controller (ONFC) and Proportional-Integral-Derivative Neural Network (PID-NN). They were applied to maintain the equilibrium and to control the position of a two-wheeled robot prototype. Experiments were carried out to investigate the equilibrium control and movement of the two-wheeled robot first on flat terrain, then in other situations, where terrain may not be flat, horizontal surface. The effectiveness of each controller was verified by experimental results, and the performance was compared with conventional PID control scheme applied for the prototype.
机译:这项工作讨论了两种不同的智能控制器:在线神经模糊控制器(ONFC)和比例积分微分神经网络(PID-NN)。它们被用于维持平衡并控制两轮机器人原型的位置。进行了实验,首先研究了两轮机器人在平坦地形上的平衡控制和运动,然后在其他情况下(地形可能不是平坦的水平表面)进行了研究。实验结果验证了每个控制器的有效性,并将其性能与应用于原型的常规PID控制方案进行了比较。

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