Design and Evaluation of Learning Human Control Algorithm for A Wheeled Inverted Pendulum
文献类型：会议论文
| 作者 | Xin, Junbo; Ou, Yongsheng; Feng, Wei |
| 出版日期 | 2014 |
| 会议名称 | 2014 IEEE International Conference on Information and Automation, ICIA 2014 |
| 会议地点 | 中国 |
| 英文摘要 | Human control strategy has been considered as a robust control method in mastering the complex and dynamic skill. In this paper, we present the problem of how human control strategy can be represented as a learning based approach and how a human strategy controller can be used in controlling dynamically stable while statically unstable, Wheeled Inverted Pendulum (WIP). The controller is designed by learning human strategy using Support Vector Regression (SVR). Since most human control strategy controllers are usually empirically rather than analytically, there exists a profound need to evaluate the performance of the human strategy controller. We then propose an effective approach for stability analysis of the human strategy controller based on the discrete-time system Lyapunov theory and Chebyshev points based estimation approach. The experimental results validate our proposed scheme for human controller design and stability analysis. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/5657]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2014 |
| 推荐引用方式 GB/T 7714 | Xin, Junbo,Ou, Yongsheng,Feng, Wei. Design and Evaluation of Learning Human Control Algorithm for A Wheeled Inverted Pendulum[C]. 见:2014 IEEE International Conference on Information and Automation, ICIA 2014. 中国. |
入库方式： OAI收割
来源：深圳先进技术研究院
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