Trajectory tracking control of a wheeled inverted pendulum vehicle: from theory to experiment

It is difficult to realize the trajectory tracking control of a wheeled inverted pendulum (WIP) vehicle which has an underactuated vehicle body and subjects to nonholonomic constraint. In this paper, based on the mathematical model of the WIP vehicle, a trajectory tracking controller is constructed via direct adaptive fuzzy and linear quadratic regulator techniques firstly. Then a simulation test which aims at lane changing trajectory tracking is performed in Matlab/Simulink, and the simulation results show that the proposed trajectory tracking controller has good performance even in the presence of external disturbance. Finally, using a STM32 single chip as the microcontroller, an experimental system for the lane changing trajectory tracking of the WIP vehicle is established, and the experimental results further prove the effectiveness of the trajectory tracking controller.