Implementation of human conveyance vehicle using model-free AORCMAC control strategy

In this study, an adaptive output recurrent cerebellar model articulation controller (AORCMAC) is proposed for a human conveyance vehicle (HCV) control problem. A mechatronic system structure of the two wheels vehicle driven by two dc motors is briefly described. The main purpose of this paper is to develop a self-dynamic balancing and motion control strategy. Variable learning-rates for analytically determining the stability of a wheeled HCV system are established. Finally, experimental results show that the proposed model-free AORCMAC can control the whole system very well.