An Improved Adaptive Control System for a Two Wheel Inverted Pendulum-Mobile Robot using Eagle Strategy with a Particle Swarm Optimization
| Main Authors: | Appalabathula Venkatesh, Dr.G Raja Rao |
|---|---|
| Format: | Article Journal |
| Terbitan: |
, 2020
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| Subjects: | |
| Online Access: |
https://zenodo.org/record/4295898 |
Daftar Isi:
- In this paper, natures stimulating algorithm Eagle strategy with Particle Swarm Optimization (ESPSO) technique is proposed to a Two Wheel Inverted Pendulum-Mobile Robot (TWIP-MR) stability analysis. The uniqueness of the inverted pendulum system has drawn interest from many researches due to the unstable nature of the system. The idea of a mobile inverted pendulum robot has surfaced in recent years and has attracted interest from control system researchers worldwide. The TWIP-MR is a multi-input and multi output system. This system is an open loop Unstabilized system with non-linear behavior according to stability concern. The main task of this design is to keep the balance of the robot while it is moving towards the desired position. While designing TWIP-MR two loops are presented one is for balancing the linear displacement and other loop is to keep the desired angular movement. In this paper concentrated on Simulink Blocks and their graphs are analyzed with the help of mathematical approach.