Adaptive control of wheeled inverted pendulum mobile robot using fuzzy disturbance observer

This paper presents an adaptive fuzzy trajectory tracking control schemes for a wheeled inverted pendulum mobile robot (WIP) in presence of parametric uncertainties and external disturbances. First a virtual output is defined for overcoming underactuated property of the system. Then feedback lineari...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Vosughi, Amirkhosro, Shahri, Alireza Mohammad
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Adaptive Trajectory Tracking Equations Fuzzy Disturbance Observer Mathematical model Observers Robots Uncertainty Underactuated Nonlinear System Vehicle dynamics Wheeled Inverted Pendulum Robot Wheels
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