A WIP control based on an intelligent controller
نویسندگان
چکیده
In this study, a robust intelligent backstepping tracking control (RIBTC) system combined with adaptive output recurrent cerebellar model articulation control (AORCMAC) and ∞ H control technique is proposed for wheeled inverted pendulums (WIPs) real-time control with exact system dynamics unknown. Moreover, a robust ∞ H controller is designed to attenuate the effect of the residual approximation errors and external disturbances with desired attenuation level. The experimental results indicate that the WIPs can stand upright stably when using the proposed RIBTC. Keywords— wheeled inverted pendulum; backstepping tracking control; ∞ H control; adaptive output recurrent cerebellar model articulation control.
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