Two-Wheel Inverted Pendulum Real Time Control

A two-wheel inverted pendulum (TWIP) system is implemented based on a position and angle decoupled intelligent backstepping control system in this work. The decoupled method provides a simple way to achieve asymptotic stability control for a fourth-order nonlinear TWIP system. Moreover, an adaptive output recurrent cerebellar model articulation control (AORCMAC) is designed in this study to imitate an ideal backstepping control (IBC). Furthermore, to compensate for difference between the above two controllers, a compensator is used. All the adaptive laws of the proposed system are derived based on the Lyapunov stability analysis, so that the stability of the closed-loop system can be guaranteed. Finally, the simulation and experiment results demonstrate the effectiveness of the proposed control method for a TWIP control.