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Adaptive backstepping control of wheeled inverted pendulums models

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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.

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Acknowledgments

The authors would like to thank Professor Zhijun Li and Professor Chenguang Yang for their guidance and constructive comments for preparation of this paper, thank the editor and anonymous reviewers for their constructive suggestions and comments. This work was supported by the National Natural Science Foundation of China (NSFC) under Grant 51209174, 61472325 and 51311130137, the Fundamental Research Program of Northwestern Polytechnical University (NPU) under Grant JCY20130113, and the State Key Laboratory of Robotics and System (HIT) under Grant SKLRS-2012-MS- 04.

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Authors and Affiliations

  1. School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, 710072, People’s Republic of China

    Rongxin Cui & Zhaoyong Mao

  2. College of Physics and Electrical Engineering, Anyang Normal University, Anyang, 455000, People’s Republic of China

    Ji Guo

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  1. Rongxin Cui
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  2. Ji Guo
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Correspondence to Rongxin Cui.

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Cui, R., Guo, J. & Mao, Z. Adaptive backstepping control of wheeled inverted pendulums models. Nonlinear Dyn 79, 501–511 (2015). https://doi.org/10.1007/s11071-014-1682-9

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  • DOI: https://doi.org/10.1007/s11071-014-1682-9

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