Kim Byung Woo, Park Bong Seok
Department of Electronic Engineering, Chosun University, 375 Seosuk-Dong, Dong-Gu, Gwangju 61452, Korea.
Division of Electrical, Electronic, and Control Engineering, Kongju National University, 1223-24 Cheonan-Daero, Seobuk-Gu, Cheonan 31080, Korea.
Sensors (Basel). 2016 Jun 29;16(7):1000. doi: 10.3390/s16071000.
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.
赛格威（Segway）如今是一种受欢迎的交通工具，它是一个不确定的非线性系统，具有未知的时变控制系数。因此，在设计控制器时，我们应考虑未知的时变控制系数和模型不确定性。基于这一观察结果，我们针对具有未知控制系数和模型不确定性的赛格威提出了一种鲁棒控制方法。为了处理时变未知控制系数，我们采用了努斯鲍姆增益技术。我们引入一个辅助变量来解决欠驱动问题。由于采用了规定性能控制技术，所提出的控制器不需要自适应技术、神经网络和模糊逻辑来补偿不确定性。因此，它可以很简单。根据李雅普诺夫稳定性理论，我们证明了闭环系统中的所有信号都是有界的。最后，我们给出仿真结果以证明所提出控制方案的有效性。
