Control of a Segway with unknown control coefficient and input constraint

  • Received : 2016.05.26
  • Accepted : 2016.06.28
  • Published : 2016.06.30


This paper proposes a control method of the Segway with unknown control coefficient and input saturation. To design a simple controller for the Segway with the model uncertainty, the prescribed performance function is used. Furthermore, an auxiliary variable is introduced to deal with unknown time-varying control coefficient and input saturation problem. Due to the auxiliary variable, function approximators are not used in this paper although all model uncertainties are unknown. Thus, the controller can be simple. From the Lyapunov stability theory, it is proved that all errors of the proposed control system remain within the prescribed performance bounds. Finally, the simulation results are presented to demonstrate the performance of the proposed scheme.


Segway;prescribed performance function;input saturation;unknown control coefficient;model uncertainty


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Supported by : Kongju National University