Control of a wheeled inverted pendulum-a nonlinear time-frequency approach
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Copyright © 2016 by ASME. The wheeled inverted pendulum shown in Fig. 1 is a typical nonlinear system that is both nonholonomic and complex in dynamics. In this paper a novel control concept is applied to stabilize a wheeled inverted pendulum. The suggested controller requires no mathematical simplification or linearization of the system. Online identification and feed-forward control are realized by an adapted filtered-x least mean square algorithm (FXLMS). Using discrete wavelet transform (DWT), control can be exerted in both the time and frequency domains simultaneously. The results show that the proposed controller is robust even when the system is perturbed. The system can also be partially stabilized at positions out of the upper equilibrium. In this case the time domain error is small though the system stays broadband in the frequency domain.
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