Le-Anh-Dung Pham^{1, 2}*, Vu-Quan Tran², Thanh-Tay Nguyen², Minh-Huy Le², Viet-Duc Nguyen², Van-Hiep Le², Thanh-Thai Pham², Tan-Dai Trinh²

Robotica & Management, Vol. 28, No. 2, pp. 44-47
DOI: https://doi.org/10.24193/rm.2023.2.8

¹ Bosch Global Software Technologies
Etown 2, Cong Hoa street, 364, Ho Chi Minh city, Vietnam
² Ho Chi Minh city University of Technology and Education (HCMUTE)
Vo Van Ngan street, 01, Ho Chi Minh city, Vietnam
* Corresponding author. E-mail: Dung.PhamLeAnh@vn.bosch.com

Abstract: Rotary inverted pendulum (RIP) is a classical model of control engineering. Paper deals with a PID-adaptive structure which is based on structure of neuron to train Kp, Ki, Kd through operation. In simulation, our adaptive controller is proven to work in larger range than classical PID controller. Through experimental model using STM32F4, we prove vibration of system under adaptive-PID is smaller than under classical PID structure. Then, combination of neuron network (NN) and PID control can be used as simple structure for single-input multi output (SIMO) systems which are similar to RIP.

Keywords: PID control, adaptive control, inverted pendulum, STM32F4, SIMO system.

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References

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