两轮倒立摆移动机器人的多输入单输出闭环辨识

2011 IEEE Student Conference on Research and Development Pub Date : 2011-12-01 DOI:10.1109/SCORED.2011.6148723

J. Jahaya, S. W. Nawawi, Z. Ibrahim

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引用次数: 19

摘要

介绍了两轮倒立摆移动机器人多输入单输出闭环的系统辨识过程。本研究考虑4个线性模型，分别是ARX、ARMAX、BJ和OE。在分析中使用实际的输入输出数据。ARX模型是TWIP系统的最佳模型。

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Multi input single output closed loop identification of two wheel inverted pendulum mobile robot

This paper presents system identification process on multi input single output (MISO) closed loop of Two Wheel Inverted Pendulum (TWIP) mobile robot. This study considers 4 linear models, which are ARX, ARMAX, BJ, and OE. The actual input output data is used in the analysis. The ARX model shows the best model for TWIP system.

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2011 IEEE Student Conference on Research and Development

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