Quantum mechanics

Adaptive control

Control (management)

Engineering

Biology

Statistics

Control engineering

Tracking (education)

Inverted pendulum

Pedagogy

Decoupling (probability)

Computer science

Bounded function

Radiative transfer

Controller (irrigation)

Physics

Nonlinear system

Psychology

Parametrization (atmospheric modeling)

Mathematics

Agronomy

Mathematical analysis

Artificial intelligence

Parametric statistics

Programming language

Control theory (sociology)

Identifier

IEEE Transactions on Cybernetics

This paper reports our study on adaptive tracking control for a mobile-wheeled inverted pendulum with periodic disturbances and parametric uncertainties. With an appropriate reduced dynamic model, incorporating repetitive learning strategies with dynamic decoupling and related adaptive control techniques, a novel controller is successfully constructed to ensure that the output tracking errors of the system will stay within a small neighborhood around zero and all of the other signals are semiglobal uniform bounded. Meanwhile, only one parameter estimation is used for adaptive controller design, which overcomes the problem of over-parametrization. Furthermore, a required condition of period identifier mechanisms is proposed. Finally, detailed simulation results are presented to demonstrate the effectiveness of the proposed control schemes.

Adaptive Tracking Control of Wheeled Inverted Pendulums With Periodic Disturbances