Adaptive backstepping control for a two-wheeled autonomous robot

In this paper, we deal with the backstepping control design of the two-wheeled inverted-pendulum-type autonomous robot, the e-nuvo-wheel, made in ZMP Inc.. First, we derive a second-order motion equation of the angle and design an adaptive integral backstepping controller to stabilize the angle in the manner of the modeling in. This controller requires the full-state measurements. In the output feedback case, the K filter or the observer backstepping is needed. However, the structure of the controller becomes complicated. We have presented the non-model-based differentiator based on the adaptive update law citewada. Since the non-model-based differentiator does not need the knowledge of the dynamic structure of the signal, we can use it as a velocity estimator for unknown nonlinear systems. Next, we replace the velocity measurement with the estimates by the non-model-based differentiator. Finally, simulation and experimental results for the proposed controller are presented.