BALANCE CONTROL OF AN UNMANNED BICYCLE USING AN IMPROVED CLASSIFIER SYSTEM

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HASHEMNIA SAEED; SHARIAT PANAHI MASOUD

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Journal: Modares Mechanical Engineering Year:2016 | Volume:15 | Issue:10 Page(s): 269-278

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Information Journal Paper

Title

BALANCE CONTROL OF AN UNMANNED BICYCLE USING AN IMPROVED CLASSIFIER SYSTEM

Author(s)

HASHEMNIA SAEED | SHARIAT PANAHI MASOUD | Issue Writer Certificate

Keywords

BALANCE CONTROLQ2

FUZZY MEMBERSHIP FUNCTIONQ2

LEARNING CLASSIFIER SYSTEMQ2

UNMANNED BICYCLEQ2

Abstract

In the present article, an improved LEARNING CLASSIFIER SYSTEM (LCS) is proposed to control the balance of a moving UNMANNED BICYCLE. A significant characteristic of LEARNING CLASSIFIER SYSTEMs is that they can learn through a set of system actions in the real world (similar to intelligent creatures) while no dynamic model of the system is needed. Contrary to studies reported in the literature where action domain of the controller is discrete and accordingly such controller cannot be used in real world applications, in the present study efficacy of the classifier system is enhanced by definition of continuous domain for the outputs, and then is used to control the balance of UNMANNED BICYCLE. A scheme based upon FUZZY MEMBERSHIP FUNCTIONs is proposed which makes it possible for the domain of actions to be continuous. The proposed LCS features a dynamic reward assignment mechanism which is invented to cope with the bicycle’s delayed response due to its mass inertias. This allows the rapid calculation of the reward and hence enables the controller to be used in such real time applications as the BALANCE CONTROL of unmanned vehicles. A standard 2 degree of freedom (2-DOF) bicycle model is employed to demonstrate the efficiency of the enhanced LCS. Simulation results show that the proposed classifier system outperforms traditional classifier system as well as some of the more common balance-control strategies reported in the literature.

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APA: Copy

HASHEMNIA, SAEED, & SHARIAT PANAHI, MASOUD. (2016). BALANCE CONTROL OF AN UNMANNED BICYCLE USING AN IMPROVED CLASSIFIER SYSTEM. MODARES MECHANICAL ENGINEERING, 15(10), 269-278. SID. https://sid.ir/paper/179645/en

Vancouver: Copy

HASHEMNIA SAEED, SHARIAT PANAHI MASOUD. BALANCE CONTROL OF AN UNMANNED BICYCLE USING AN IMPROVED CLASSIFIER SYSTEM. MODARES MECHANICAL ENGINEERING[Internet]. 2016;15(10):269-278. Available from: https://sid.ir/paper/179645/en

IEEE: Copy

SAEED HASHEMNIA, and MASOUD SHARIAT PANAHI, “BALANCE CONTROL OF AN UNMANNED BICYCLE USING AN IMPROVED CLASSIFIER SYSTEM,” MODARES MECHANICAL ENGINEERING, vol. 15, no. 10, pp. 269–278, 2016, [Online]. Available: https://sid.ir/paper/179645/en

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