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A Wip Control Based On An Intelligent Controller
2011
Zenodo
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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
doi:10.5281/zenodo.1055240
fatcat:rwkk3bxxejcsziwkg5ue3x6gnu