Adaptive control of wheeled inverted pendulum mobile robot using fuzzy disturbance observer

This paper presents an adaptive fuzzy trajectory tracking control schemes for a wheeled inverted pendulum mobile robot (WIP) in presence of parametric uncertainties and external disturbances. First a virtual output is defined for overcoming underactuated property of the system. Then feedback linearization technique is applied to dynamic of system. A damping term is designed through LQG method to damp oscillation which caused by definition of virtual output and is added to control law. After that disturbances and parametric uncertainties are compensated by use of fuzzy disturbance observer. The computer simulations illustrate the performance of proposed controller.