Indirect adaptive fuzzy control for a nonholonomic/underactuated wheeled inverted pendulum vehicle based on a data-driven trajectory planner

DOI10.1016/J.FSS.2015.08.013zbMath1374.93228OpenAlexW1647726290MaRDI QIDQ1677872

Jianzhong Sun, Cong An, Yu Du, Ming Yue

Publication date: 13 November 2017

Published in: Fuzzy Sets and Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.fss.2015.08.013

zbMATH Keywords

wheeled inverted pendulumadaptive mechanismdata-drivenindirect fuzzy controlnonholonomic/underactuated

Mathematics Subject Classification ID

Fuzzy control/observation systems (93C42) Adaptive control/observation systems (93C40) Control of mechanical systems (70Q05) Motion of a rigid body with a fixed point (70E17)

Related Items (9)

Adaptive tracking control for underactuated mechanical systems with relative degree two ⋮ Self-excited periodic motion in underactuated mechanical systems using two-fuzzy inference system ⋮ Turning motion control design of a two-wheeled inverted pendulum using curvature tracking and optimal control theory ⋮ Observer-based controllers for two-wheeled inverted robots with unknown input disturbance and model uncertainty ⋮ An identical path tracking control strategy of the tractor-trailer wheeled mobile robot with an off-axle hitching based on a passive steering angle ⋮ A trajectory planning and tracking control approach for obstacle avoidance of wheeled inverted pendulum vehicles ⋮ Stabilizing a rotary inverted pendulum based on logarithmic Lyapunov function ⋮ Robust hierarchical sliding mode control with state-dependent switching gain for stabilization of rotary inverted pendulum ⋮ A robust direct adaptive fuzzy control for a class of uncertain nonlinear MIMO systems

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