Adaptive backstepping control of wheeled inverted pendulums models

Rongxin Cui; Ji Guo; Zhaoyong Mao

doi:10.1007/s11071-014-1682-9

Adaptive backstepping control of wheeled inverted pendulums models

Rongxin Cui, Ji Guo, Zhaoyong Mao

Anyang Normal University

Research output: Contribution to journal › Article › peer-review

118 Scopus citations

Abstract

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.

Original language	English
Pages (from-to)	501-511
Number of pages	11
Journal	Nonlinear Dynamics
Volume	79
Issue number	1
DOIs	https://doi.org/10.1007/s11071-014-1682-9
State	Published - Jan 2015

Keywords

Adaptive control
Backstepping
Path-following
Wheeled inverted pendulum

Access to Document

10.1007/s11071-014-1682-9

Cite this

@article{33579fa5cbec410a98f9946559230baf,

title = "Adaptive backstepping control of wheeled inverted pendulums models",

abstract = "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.",

keywords = "Adaptive control, Backstepping, Path-following, Wheeled inverted pendulum",

author = "Rongxin Cui and Ji Guo and Zhaoyong Mao",

note = "Publisher Copyright: {\textcopyright} 2014, Springer Science+Business Media Dordrecht.",

year = "2015",

month = jan,

doi = "10.1007/s11071-014-1682-9",

language = "英语",

volume = "79",

pages = "501--511",

journal = "Nonlinear Dynamics",

issn = "0924-090X",

publisher = "Springer Netherlands",

number = "1",

}

TY - JOUR

T1 - Adaptive backstepping control of wheeled inverted pendulums models

AU - Cui, Rongxin

AU - Guo, Ji

AU - Mao, Zhaoyong

PY - 2015/1

Y1 - 2015/1

N2 - 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.

AB - 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.

KW - Adaptive control

KW - Backstepping

KW - Path-following

KW - Wheeled inverted pendulum

UR - http://www.scopus.com/inward/record.url?scp=84921981638&partnerID=8YFLogxK

U2 - 10.1007/s11071-014-1682-9

DO - 10.1007/s11071-014-1682-9

M3 - 文章

AN - SCOPUS:84921981638

SN - 0924-090X

VL - 79

SP - 501

EP - 511

JO - Nonlinear Dynamics

JF - Nonlinear Dynamics

IS - 1

ER -

Adaptive backstepping control of wheeled inverted pendulums models

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this