Adaptive fuzzy output feedback motion/force control for wheeled inverted pendulums

In this study, adaptive fuzzy output feedback motion/force control is investigated for wheeled inverted pendulums with unmodelled dynamics, whose states and time derivatives of the output are unavailable. The proposed adaptive fuzzy output feedback control reconstructs the system states by using a high-gain observer, and makes use of bounds online adaptation mechanism to cancel the dynamics uncertainties. Based on Lyapunov synthesis, the proposed control ensures that the system outputs track the given bounded reference signals within a small neighbourhood of zero, and guarantees zero-dynamics stability. The effectiveness of the proposed control is verified through extensive simulations.