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论文类型：期刊论文

发表时间：2016-05-01

发表刊物：FUZZY SETS AND SYSTEMS

收录刊物：SCIE、EI

卷号：290

页面范围：158-177

ISSN号：0165-0114

关键字：Adaptive mechanism; Data-driven; Indirect fuzzy control; Nonholonomic/underactuated; Wheeled inverted pendulum

摘要：In this study, we investigate an error data-based trajectory planner and indirect adaptive fuzzy control for a class of wheeled inverted pendulum vehicle systems. Based on the error dynamics, the closed-loop trajectory planner can generate the desired velocity values. Using the virtual acceleration input for the tilt angle subsystem, composite control for the rotational and longitudinal subsystems can be constructed via indirect adaptive fuzzy and sliding mode control approaches to achieve simultaneous velocity tracking and tilt angle stabilization. We rigorously prove the system stability and convergence of the tracking error signals using the Lyapunov theory and LaSalle's invariance theorem. The results of our numerical simulations demonstrated the efficiency of the proposed control strategies and the implementations of the algorithms. (C) 2015 Elsevier B.V. All rights reserved.