Next Article in Journal
Photon-Counting Arrays for Time-Resolved Imaging
Next Article in Special Issue
Development of Torque Sensor with High Sensitivity for Joint of Robot Manipulator Using 4-Bar Linkage Shape
Previous Article in Journal
A Proof-of-Concept for Semantically Interoperable Federation of IoT Experimentation Facilities
Previous Article in Special Issue
Investigating the Impact of Possession-Way of a Smartphone on Action Recognition
Article Menu

Export Article

Open AccessArticle
Sensors 2016, 16(7), 1000; doi:10.3390/s16071000

Robust Control for the Segway with Unknown Control Coefficient and Model Uncertainties

1
Department of Electronic Engineering, Chosun University, 375 Seosuk-Dong, Dong-Gu, Gwangju 61452, Korea
2
Division of Electrical, Electronic, and Control Engineering, Kongju National University, 1223-24 Cheonan-Daero, Seobuk-Gu, Cheonan 31080, Korea
*
Author to whom correspondence should be addressed.
Academic Editors: Suk-Seung Hwang, Euntai Kim, Sungshin Kim and Keon Myung Lee
Received: 28 March 2016 / Revised: 10 June 2016 / Accepted: 23 June 2016 / Published: 29 June 2016
View Full-Text   |   Download PDF [1032 KB, uploaded 29 June 2016]   |  

Abstract

The Segway, which is a popular vehicle nowadays, is an uncertain nonlinear system and has an unknown time-varying control coefficient. Thus, we should consider the unknown time-varying control coefficient and model uncertainties to design the controller. Motivated by this observation, we propose a robust control for the Segway with unknown control coefficient and model uncertainties. To deal with the time-varying unknown control coefficient, we employ the Nussbaum gain technique. We introduce an auxiliary variable to solve the underactuated problem. Due to the prescribed performance control technique, the proposed controller does not require the adaptive technique, neural network, and fuzzy logic to compensate the uncertainties. Therefore, it can be simple. From the Lyapunov stability theory, we prove that all signals in the closed-loop system are bounded. Finally, we provide the simulation results to demonstrate the effectiveness of the proposed control scheme. View Full-Text
Keywords: unknown control coefficient; Segway; prescribed performance function; Nussbaum gain technique; model uncertainty unknown control coefficient; Segway; prescribed performance function; Nussbaum gain technique; model uncertainty
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Kim, B.W.; Park, B.S. Robust Control for the Segway with Unknown Control Coefficient and Model Uncertainties. Sensors 2016, 16, 1000.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top