WIPs real-time control using RIBTC

In this study, a robust intelligent backstepping tracking control (RIBTC) system combined with AORCMAC and H^∞ control technique is proposed for wheeled inverted pendulums (WIPs) real-time control with exact system dynamics unknown and external disturbances. In the proposed control system, an adaptive output recurrent cerebellar model articulation controller (AORCMAC) is used to copy an ideal backstepping control (IBC), and a robust H^∞ controller is designed to attenuate the effect of the residual approximation errors and external disturbances with desired attenuation level. Moreover, the all adaptation laws of the RIBTC system are derived based on the Lyapunov stability analysis, the Taylor linearization technique and H^∞ control theory, so that the stability of the closed-loop system and H^∞ tracking performance can be guaranteed.