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
Sensors 2016, 16(7), 1000; https://doi.org/10.3390/s16071000
Received: 28 March 2016 / Revised: 10 June 2016 / Accepted: 23 June 2016 / Published: 29 June 2016
(This article belongs to the Special Issue Selected Papers From the 16th International Symposium on Advanced Intelligent Systems (ISIS))
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.
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Keywords:
unknown control coefficient; Segway; prescribed performance function; Nussbaum gain technique; model uncertainty
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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. https://doi.org/10.3390/s16071000
AMA Style
Kim BW, Park BS. Robust Control for the Segway with Unknown Control Coefficient and Model Uncertainties. Sensors. 2016; 16(7):1000. https://doi.org/10.3390/s16071000
Chicago/Turabian StyleKim, Byung W.; Park, Bong S. 2016. "Robust Control for the Segway with Unknown Control Coefficient and Model Uncertainties" Sensors 16, no. 7: 1000. https://doi.org/10.3390/s16071000
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