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Robust intelligent backstepping tracking control for wheeled inverted pendulum

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Abstract

In this study, a robust intelligent backstepping tracking control (RIBTC) system combined with adaptive output recurrent cerebellar model articulation controller (AORCMAC) and H ∞ control technique is proposed for wheeled inverted pendulums (WIPs) with unknown system dynamics and external disturbance. The AORCMAC is a nonlinear adaptive system with simple computation, good generalization capability and fast learning property. Therefore, the WIP can stand upright when it moves to a designed position stably. In the proposed control system, an AORCMAC is used to copy an ideal backstepping control, and a robust H ∞ controller is designed to attenuate the effect of the residual approximation errors and external disturbances with desired attenuation level. Moreover, the all adaptation laws of the RIBTC system are derived based on the Lyapunov stability analysis, the Taylor linearization technique and H ∞ control theory, so that the stability of the closed-loop system and H ∞ tracking performance can be guaranteed. The proposed control scheme is practical and efficacious for WIPs by simulation results.

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Authors and Affiliations

  1. Department of Electrical Engineering, Yuan-Ze University, Chung-Li, Tao-Yuan, 320, Taiwan, ROC

    Chih-Hui Chiu & You-Wei Lin

  2. Department of Electrical Engineering, Ching-Yun University, Chung-Li, Tao-Yuan, 320, Taiwan, ROC

    Ya-Fu Peng

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  1. Chih-Hui Chiu
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  2. Ya-Fu Peng
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  3. You-Wei Lin
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Correspondence to Chih-Hui Chiu.

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Chiu, CH., Peng, YF. & Lin, YW. Robust intelligent backstepping tracking control for wheeled inverted pendulum. Soft Comput 15, 2029–2040 (2011). https://doi.org/10.1007/s00500-011-0702-7

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  • DOI: https://doi.org/10.1007/s00500-011-0702-7

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