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

科研成果: 期刊稿件 › 文章 › 同行评审

118 引用（Scopus）

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.

源语言	英语
页（从-至）	501-511
页数	11
期刊	Nonlinear Dynamics
卷	79
期	1
DOI	https://doi.org/10.1007/s11071-014-1682-9
出版状态	已出版 - 1月 2015

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

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

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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.

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Adaptive backstepping control of wheeled inverted pendulums models

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