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This paper presents an adaptive intelligent steering controller using backstepping sliding-mode control and recurrent wavelet fuzzy cerebellar model articulation controller (RWFCMAC) and for an uncertain ball-riding human transporter in presence of significant system uncertainties. The proposed controller operates at two independent modes: self-balancing and station keeping. The self-balancing mode...
This paper presents indirect adaptive self-balancing and station keeping control methods using recurrent Wavelet Fuzzy CMAC (RWFCMAC) for an omnidirectional ball-driven chair in presence of significant system uncertainties. By backstepping, sliding-mode control and RWFCMAC, the self-balancing controller is synthesized to follow the rider's inclination angles in both two axes (x-z and y-z axis), and...
This paper presents an adaptive backstopping station-keeping control using recurrent wavelet fuzzy cerebella model articulation controller (RWFCMAC) for omnidirectional ball-driven chairs used in indoor environments. Lagrangian mechanics is adopted to establish a coupled mathematical model of the vehicle; when the nutation angle is sufficiently small, this model is shown to be consistent with the...
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