An adaptive control of two wheel inverted pendulum robot based on particle swarm optimization

Abstract

Research on two wheel inverted pendulum (TWIP) robot become an interest of many researcher due to its highly nonlinearity characteristic. TWIP offers extensive research diversity from modeling to control method. In control engineering, tuning of TWIP, which is a linear time invariant (LTI) system, has been well studied. In contrast, this paper emphasizes on time variant system of TWIP. Particle swarm optimization (PSO) is employed for adaptive tuning of the TWIP. To avoid instable problem due to wide search space area used, integral absolute error (IAE) mesh is considered, which is important to ensure that the region where TWIP operates is stable and optimal. Simulation result shows the effectiveness of the proposed approach in enabling online PSO tuning scheme.