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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/46988

Title: Robust intelligent backstepping tracking control for wheeled inverted pendulum
Authors: Chih-Hui Chiu
Ya-Fu Peng
You-Wei Lin
Contributors: 國立臺灣海洋大學:通訊科學系
Keywords: Output recurrent cerebellar model articulation control
Backstepping tracking control
Wheeled inverted pendulum
H∞ control
Date: 2011
Issue Date: 2018-06-25T08:40:35Z
Publisher: Soft Computing
Abstract: 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.
Relation: 15(10) pp.2029–2040
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/46988
Appears in Collections:[通訊與導航工程學系] 期刊論文

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