Robust intelligent backstepping tracking control for wheeled inverted pendulum

DOI10.1007/S00500-011-0702-7MaRDI QIDQ416289zbMATH OpenOpenAlexFDO

Authors Chih-Hui Chiu, Ya-Fu Peng, You-Wei Lin

Publication date 10 May 2012

Published in Soft Computing (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s00500-011-0702-7

zbMATH Keywords

\(H ^{\infty }\) controlbackstepping tracking controloutput recurrent cerebellar model articulation controlwheeled inverted pendulum

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Sensitivity (robustness) (93B35) (H^infty)-control (93B36) Nonlinear systems in control theory (93C10) Adaptive control/observation systems (93C40)

Recommendations

• Robust adaptive backstepping in tracking control for wheeled inverted pendulum
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Cites work

• A New Approach to Manipulator Control: The Cerebellar Model Articulation Controller (CMAC)
• Data Storage in the Cerebellar Model Articulation Controller (CMAC)
• Robust intelligent backstepping tracking control for uncertain non-linear chaotic systems using \(H^{\infty }\) control technique

Cited in

(8)

• Sliding mode control with an extended disturbance observer for a class of underactuated system in cascaded form
• Discrete-time weight updates in neural-adaptive control
• Motion controller design of wheeled inverted pendulum with an input delay via optimal control theory
• Advances in robust control of mobile wheeled inverted pendulum
• Intelligent decoupled controller for mobile inverted pendulum real-time implementation
• Adaptive backstepping control of wheeled inverted pendulums models
• Robust adaptive backstepping in tracking control for wheeled inverted pendulum
• Robust intelligent backstepping control system using RCMAC for tracking periodic trajectories

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