Improving lateral stability of a motorcycle via assistive control of a reaction wheel

Tanos, Aristeidis; Steffen, Thomas; Mavros, George

doi:10.1109/control.2014.6915119

Cited by 3 publications

(1 citation statement)

References 5 publications

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“…All the work developed in the balance of robotic systems, taking the theory behind the inverted pendulum and inverted rotary pendulum, has allowed its use in space systems and satellites [12,13,14], in motorcycle systems stabilization [15], in bipedal robot systems [16], in the famous conveyance known like segway [17,18,19] and [20], this is a two wheels self-balancing system.…”

Section: Introductionmentioning

confidence: 99%

Neural network ARMAX model for a Furuta pendulum

Villamil¹,

Bolivar²,

Polania³

et al. 2021

Ingeniare. Rev. chil. ing.

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The rotational inverted pendulum or Furuta Pendulum is a mechatronic system used by control engineers to explore a various dynamic modeling and control schemes. Due to its nonlinear nature, open-loop instability, and because it is an under-actuated system (more degrees of freedom than actuators), which is the basis for the design of vehicles such as the Segway, the self-balancing scooter, hoverboard, or selfbalancing board, among others. The authors present a model for the Furuta Pendulum using the equations of Euler-Lagrange and the methodology to identify a black-box model by training an NNARMAX (Neural Network Auto-Regressive Moving Average with exogenous inputs). The results show that two interconnected MISO-NNARMAX estimates 10-step-ahead predictions accurately for the horizontal and vertical angles.

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