Adaptive control of two-wheeled mobile balance robot capable to adapt different surfaces using a novel artificial neural network-based real-time switching dynamic controller

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dc.contributor.authorUnluturk, Ali
dc.contributor.authorAydogdu, Omer
dc.date.accessioned2020-03-26T19:33:41Z
dc.date.available2020-03-26T19:33:41Z
dc.date.issued2017
dc.departmentSelçuk Üniversitesien_US
dc.description.abstractIn this article, a novel real-time artificial neural network-based adaptable switching dynamic controller is developed and practically implemented. It will be used for real-time control of two-wheeled balance robot which can balance itself upright position on different surfaces. In order to examine the efficiency of the proposed controller, a two-wheeled mobile balance robot is designed and a test platformfor experimental setup ismade for balance problemon different surfaces. In a developed adaptive controller algorithm which is capable to adapt different surfaces, mean absolute target angle deviation error, mean absolute target displacement deviation error andmean absolute controller output data areemployed for surface estimation by using artificial neural network. In a designed two-wheeledmobile balance robot system, robot tilt angle is estimated viaKalman filter from accelerometer and gyroscope sensor signals. Furthermore, a visual robot control interface is developed in C++ software development environment so that robot controller parameters can be changed as desired. In addition, robot balance angle, linear displacement and controller output can be observed online on personal computer. According to the real-time experimental results, the proposed novel type controller gives more effective results than the classic ones.en_US
dc.identifier.doi10.1177/1729881417700893en_US
dc.identifier.issn1729-8814en_US
dc.identifier.issue2en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.urihttps://dx.doi.org/10.1177/1729881417700893
dc.identifier.urihttps://hdl.handle.net/20.500.12395/34764
dc.identifier.volume14en_US
dc.identifier.wosWOS:000398510500001en_US
dc.identifier.wosqualityQ4en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherSAGE PUBLICATIONS INCen_US
dc.relation.ispartofINTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMSen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.selcuk20240510_oaigen_US
dc.subjectAdaptive switching controlleren_US
dc.subjectANN-based surface estimationen_US
dc.subjectsensor fusionen_US
dc.subjecttwo-wheeled mobile balance roboten_US
dc.titleAdaptive control of two-wheeled mobile balance robot capable to adapt different surfaces using a novel artificial neural network-based real-time switching dynamic controlleren_US
dc.typeArticleen_US

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