title: Robust Control for the Segway with Unknown Control Coefficient and Model Uncertainties.
abstract: 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.
authors.affiliation: Department of Electronic Engineering, Chosun University, 375 Seosuk-Dong, Dong-Gu, Gwangju 61452, Korea. oocsos@naver.com.
authors.forename: Byung Woo
authors.initials: BW
authors.lastname: Kim
authors.affiliation: Division of Electrical, Electronic, and Control Engineering, Kongju National University, 1223-24 Cheonan-Daero, Seobuk-Gu, Cheonan 31080, Korea. bspark@kongju.ac.kr.
authors.forename: Bong Seok
authors.initials: BS
authors.lastname: Park
keywords: Nussbaum gain technique; Segway; model uncertainty; prescribed performance function; unknown control coefficient