Adaptive robust dynamic balance and motion control of mobile wheeled inverted pendulums

Author

Li, Zhijun ; Zhu, Yongxin ; Mo, Tingting

Author_Institution

Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai

fYear

2008

fDate

25-27 June 2008

Firstpage

933

Lastpage

938

Abstract

Adaptive robust dynamic balance and motion control are considered for mobile wheeled inverted pendulum, in the presence of parametric and functional uncertainties. Based on Lyapunov synthesis, the proposed control mechanisms using physical properties of wheeled inverted pendulums ensure that the outputs of the system track the given bounded reference signals within a small neighborhood of zero, and guarantees semi-global uniform boundedness of all the closed loop signals. Simulation results are presented to verify the effectiveness of the proposed adaptive robust control.

Keywords

Lyapunov methods; adaptive control; motion control; nonlinear systems; pendulums; robust control; Lyapunov synthesis; adaptive robust control; adaptive robust dynamic balance; bounded reference signals; closed loop signals; functional uncertainties; mobile wheeled inverted pendulums; motion control; parametric uncertainties; semiglobal uniform boundedness; Adaptive control; Automation; Control system synthesis; Motion control; Motion planning; Nonlinear control systems; Nonlinear systems; Programmable control; Robust control; Uncertainty; adaptive robust control; mobile wheeled inverted pendulum; zero dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Conference_Location

Chongqing

Print_ISBN

978-1-4244-2113-8

Electronic_ISBN

978-1-4244-2114-5

Type

conf

DOI

10.1109/WCICA.2008.4593045

Filename

4593045