Adaptive steering control using fuzzy CMAC for electric seatless unicycles

This paper presents an adaptive steering control of an electric seatless unicycle using fuzzy cerebella model articulation controller (FCMAC), which are employed to approximate the frictions between the wheel and terrain surface. A backstepping controller with on-line parameter tuning rules is then presented to simultaneously achieve self-balancing and forward motion of the vehicle based on the rider´s body inclination. The performance and merit of the proposed method are well exemplified by conducting one simulation on an electric seatless unicycle.