지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2013.10
- 수록면
- 940 - 945 (6page)
이용수
초록· 키워드
오류제보하기
This paper presents an intelligent adaptive steering control using backstepping, aggregated hierarchical slidingmode control approach and fuzzy basis function networks (FBFN) for seatless electric unicycles. The backstepping hierarchical sliding-mode control approach is used to simultaneously achieve self-balancing and speed control, while the FBFN is employed to on-line learn uncertainties caused by different riders and unknown frictions between the wheel and the terrain surfaces. The performance and merit of the proposed method are well exemplified by conducting two simulations on a laboratory-built electric unicycle. Experimental results show consistent steering performance of the proposed controller for distinct riders and terrain surfaces.
목차
Abstract
I. INTRODUCTION
II. CONTROL ARCHITECTURE AND MODELLING
III. INTELLIGENT ADAPTIVE STEERING CONTROL
IV. SIMULATIONS AND EXPERIMENTS
V. CONCLUSIONS
REFERENCES
참고문헌 (0)
참고문헌 신청이 논문의 저자 정보
최근 본 자료
댓글(0)
0