Professor of Mechanical Engineering and Smart Structures, School of Computing Engineering and Mathematics, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
Abstract—Many authors have utilized Lyapunov’s direct technique to design robust adaptive controllers. In recent years, the work of applying H? theory to control wheeled inverted pendulums is a topic of much concern due to its underactuated, external-disturbance-prone and nonlinear model. In this paper, we propose a new control method by applying the H-infinity and Backstepping technique based on Lyapunov’s direct technique to stabilize tracking error for converging to arbitrary ball of origin. Under disturbances belonging L2-space, the simulation results of WIP demonstrate the effectiveness of the proposed controller.
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