Ching-Chih Tsai, Yi-Ping Ciou, Feng-Chun Tai, Hsiao-Lang Wu
This paper presents indirect adaptive self-balancing and station keeping control methods using recurrent Wavelet Fuzzy CMAC (RWFCMAC) for an omnidirectional ball-driven chair in presence of significant system uncer tainties. By backstepping, sliding-mode control and RWFCMAC, the self-balancing controller is synthesized to follow the rider's inclination angles in both two axes (x-z and y-z axis), and the station-keeping controller is designed to allow the rider to maintain the vehicle at the same place. The RW…
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