Journal
NONLINEAR DYNAMICS
Volume 79, Issue 1, Pages 501-511Publisher
SPRINGER
DOI: 10.1007/s11071-014-1682-9
Keywords
Backstepping; Adaptive control; Wheeled inverted pendulum; Path-following
Categories
Funding
- National Natural Science Foundation of China (NSFC) [51209174, 61472325, 51311130137]
- Fundamental Research Program of Northwestern Polytechnical University (NPU) [JCY20130113]
- State Key Laboratory of Robotics and System (HIT) [SKLRS-2012-MS-04]
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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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