Adaptive robust dynamic balance and motion control of mobile wheeled inverted pendulums

Adaptive robust dynamic balance and motion control are considered for mobile wheeled inverted pendulum, in the presence of parametric and functional uncertainties. Based on Lyapunov synthesis, the proposed control mechanisms using physical properties of wheeled inverted pendulums ensure that the outputs of the system track the given bounded reference signals within a small neighborhood of zero, and guarantees semi-global uniform boundedness of all the closed loop signals. Simulation results are presented to verify the effectiveness of the proposed adaptive robust control.