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论文类型：会议论文

发表时间：2016-08-18

收录刊物：EI、CPCI-S、Scopus

页面范围：540-545

摘要：It is difficult to make a wheeled inverted pendulum vehicle (WIP) follow an arbitrary desired trajectory while holding the inverted pendulum-like vehicle upright. In this paper, based on the presented coupled dynamic model with four independent coordinates, both the vehicle nonholonomic constraints and underactuated property are depicted. Then, by partial feedback linearization, the overall system is partitioned into an actuated subsystem with rotational and longitudinal motions and a tilt angle subsystem with driving by a virtual control input. Also, a fuzzy controller is constructed for the actuated subsystem since it has better adaptability, robustness, and fault tolerance characteristics. Besides, the sliding-mode control technique with adaptive laws is employed so as to strengthen the robustness of the control system.