Adaptive backstepping control of wheeled inverted pendulums models

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• 作者：Rongxin Cui (1)
  Ji Guo (2)
  Zhaoyong Mao (1)
  
  1. School of Marine Science and Technology ; Northwestern Polytechnical University ; Xi鈥檃n ; 710072 ; People鈥檚 Republic of China
  2. College of Physics and Electrical Engineering ; Anyang Normal University ; Anyang ; 455000 ; People鈥檚 Republic of China
  
• 关键词：Backstepping ; Adaptive control ; Wheeled inverted pendulum ; Path ; following
• 刊名：Nonlinear Dynamics
• 出版年：2015
• 出版时间：January 2015
• 年：2015
• 卷：79
• 期：1
• 页码：501-511
• 全文大小：316 KB
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• 刊物类别：Engineering
• 刊物主题：Vibration, Dynamical Systems and Control
  Mechanics
  Mechanical Engineering
  Automotive and Aerospace Engineering and Traffic
  
• 出版者：Springer Netherlands
• ISSN：1573-269X

文摘

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.