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Title of Journal: Soft Comput

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Abbravation: Soft Computing

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Springer-Verlag

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10.1007/978-3-319-39369-8_15

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1433-7479

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Robust intelligent backstepping tracking control f

Authors: ChihHui Chiu YaFu Peng YouWei Lin
Publish Date: 2011/03/29
Volume: 15, Issue: 10, Pages: 2029-2040
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Abstract

In this study a robust intelligent backstepping tracking control RIBTC system combined with adaptive output recurrent cerebellar model articulation controller AORCMAC and H ∞ control technique is proposed for wheeled inverted pendulums WIPs with unknown system dynamics and external disturbance The AORCMAC is a nonlinear adaptive system with simple computation good generalization capability and fast learning property Therefore the WIP can stand upright when it moves to a designed position stably In the proposed control system an AORCMAC is used to copy an ideal backstepping control and a robust H ∞ controller is designed to attenuate the effect of the residual approximation errors and external disturbances with desired attenuation level Moreover the all adaptation laws of the RIBTC system are derived based on the Lyapunov stability analysis the Taylor linearization technique and H ∞ control theory so that the stability of the closedloop system and H ∞ tracking performance can be guaranteed The proposed control scheme is practical and efficacious for WIPs by simulation results

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