Release Time:2019-03-13  Hits:

Indexed by: Journal Article

Date of Publication: 2016-12-01

Journal: INTERNATIONAL JOURNAL OF CONTROL

Included Journals: Scopus、EI、SCIE

Volume: 89

Issue: 12

Page Number: 2533-2542

ISSN: 0020-7179

Key Words: Feedback linearisation; linear quadratic regulator (LQR); sliding-mode control; unstable zero dynamics; wheeled inverted pendulum

Abstract: This paper presents a composite control strategy integrating adaptive sliding-mode control and the linear quadratic regulator (LQR) technology for a wheeled inverted pendulum (WIP) vehicle system. The system can be partitioned into an actuated rotational subsystem and an underactuated longitudinal subsystem based on the different control input in the mathematical model. In particular, the instability analysis of zero dynamic for the underactuated longitudinal subsystem is investigated in detail using the feedback linearisation technology. Then, an adaptive sliding-mode control is designed for the trajectory tracking, where an adaptive algorithm is developed to handle with the parameter uncertainties. In addition, the LQR technique is employed to guarantee zero dynamics stability so as to achieve simultaneously the vehicle body stabilisation at the upright position. Simulation results show the good performance and strong robustness of the proposed control schemes.