Adaptive backstepping control of wheeled inverted pendulums models

被引：105
作者：
Cui, Rongxin [1 ]
Guo, Ji [2 ]
Mao, Zhaoyong [1 ]
机构：
[1] Northwestern Polytech Univ, Sch Marine Sci & Technol, Xian 710072, Peoples R China
[2] Anyang Normal Univ, Coll Phys & Elect Engn, Anyang 455000, Peoples R China
来源：
NONLINEAR DYNAMICS | 2015年 / 79卷 / 01期
基金：
中国国家自然科学基金;
关键词：
Backstepping; Adaptive control; Wheeled inverted pendulum; Path-following; MECHANICAL SYSTEMS; NONLINEAR-SYSTEMS; FUZZY CONTROL; DISTURBANCE-OBSERVER; MOTION/FORCE CONTROL; TRACKING CONTROL; FEEDBACK; MOBILE; DYNAMICS; ROBOT;
D O I：
10.1007/s11071-014-1682-9
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper, the state feedback control of wheeled inverted pendulum (WIP) used for mobile transportation has been investigated. The dynamic unstable balance and nonholonomic constraints inherent degrade the performance when the WIP operates in path-following mode. Through a suitable coordinates transformation, the WIP model is formulated into a parametric strict feedback form. Then, backstepping-based adaptive control is designed to achieve output tracking for the WIP. Simulation results are provided to show the effectiveness of the control proposed.
引用
收藏
页码：501 / 511
页数：11
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