Final published version
Licence: CC BY: Creative Commons Attribution 4.0 International License
Research output: Contribution to Journal/Magazine › Journal article › peer-review
| <mark>Journal publication date</mark> | 24/05/2016 |
|---|---|
| <mark>Journal</mark> | International Journal of Advanced Robotic Systems |
| Issue number | 3 |
| Volume | 13 |
| Publication Status | Published |
| Early online date | 1/01/16 |
| <mark>Original language</mark> | English |
This paper presents a dynamic model for a self-balancing vehicle using the Euler-Lagrange approach. The design and deployment of an artificial neuronal network (ANN) in a closed-loop control is described. The ANN is characterized by integration of the extended delta-bar-delta algorithm (DBD), which accelerates the adjustment of synaptic weights. The results of the control strategy in the dynamic model of the robot are also presented.