Simultaneous balancing and trajectory tracking control for two-wheeled inverted pendulum vehicles: A composite control approach

@article{Yue2016SimultaneousBA,
  title={Simultaneous balancing and trajectory tracking control for two-wheeled inverted pendulum vehicles: A composite control approach},
  author={Ming Yue and Shuang Wang and Jianzhong Sun},
  journal={Neurocomputing},
  year={2016},
  volume={191},
  pages={44-54}
}
This paper is concerned with a novel composite controller for an underactuated two-wheeled inverted pendulum vehicle with an unstable suspension subject to nonholonomic constraint. The presented composite controller is consisted with an adaptive sliding mode technique to construct an additional disturbance-like signal, and particularly a direct fuzzy… CONTINUE READING