Nonlinear self-balancing and speed control using WFCMAC for seatless electric unicycles

This paper presents an direct adaptive control for an uncertain electric seatless unicycle using wavelet fuzzy cerebella model articulation controller (WFCMAC). The WFCMAC is proposed to approximate the equivalent control part and uncertainties. A nonlinear backstepping sliding-mode controller with on-line adaptive laws is presented to accomplish adaptive robust self-balancing and speed control of the seatless electric unicycle based on the rider's body inclination and the speed of the unicycle. Simulations results indicate that the performance and merit of the proposed method are well illustrated by comparing to two existing controllers.