Robust H-infinity backstepping control design of a wheeled inverted pendulum system

Abstract

The issue of applying H∞ to control wheeled inverted pendulum is a topic of much concern on account of underactuated and nonlinear model. Authors in [1] selected Lyapunov candidate function presented following HJ equation. Almost previous papers using H - infinity to control WIP must assume that desired accelerator is zero and model is linearized at origin, leading to that system does not obtain global asymptotical stability when angular error leave neighborhood of origin. In this paper, we propose a new control method applying H - infinity and Backstepping technique based on Lyapunov direct method to stabilize tracking error to converge to arbitrary ball of origin. The simulation results of WIP under bounded disturbances demonstrate the effectiveness of the proposed controller.