Adaptive steering control using fuzzy CMAC for electric seatless unicycles

This paper presents an adaptive steering control of an electric seatless unicycle using fuzzy cerebella model articulation controller (FCMAC), which are employed to approximate the frictions between the wheel and terrain surface. A backstepping controller with on-line parameter tuning rules is then...

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Bibliographic Details
Main Authors: Yi-Yu Li, Ching-Chih Tsai, Feng-Chun Tai, Hong-Seng Yap
Format: Conference Proceeding
Language:English
Subjects:
Adaptation models
Adaptive control
Backstepping
electric seatless unicycle
Equations
Friction
fuzzy cerebella model articulation controller (FCMAC)
Mathematical model
Vehicles
Wheels
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Summary:This paper presents an adaptive steering control of an electric seatless unicycle using fuzzy cerebella model articulation controller (FCMAC), which are employed to approximate the frictions between the wheel and terrain surface. A backstepping controller with on-line parameter tuning rules is then presented to simultaneously achieve self-balancing and forward motion of the vehicle based on the rider's body inclination. The performance and merit of the proposed method are well exemplified by conducting one simulation on an electric seatless unicycle.
ISSN:1948-3449
1948-3457
DOI:10.1109/ICCA.2014.6870980