Adaptive robust constraint-following control for underactuated unmanned bicycle robot with uncertainties

作者：Zhao, Han; Liu, Wenyu; Chen, Xiaolong; Sun, Hao^*

来源：ISA TRANSACTIONS, 2023, 143: 144-155.

DOI：10.1016/j.isatra.2023.09.016

• Unmanned bicycle robot
• Underactuated mechanical system
• Adaptive robust control
• Uncertainties
• Constraint-following

Due to the underactuated and unstable nature, the control of unmanned bicycle robots is a challenge. The presence of unknown and time-varying uncertainties in the system adds to the difficulty of control for the unmanned bicycle robot. From the perspective of constraint-following, this paper proposes a new control approach to address uncertainties in the unmanned bicycle robot system. The uncertainties of the unmanned bicycle robot system are constrained within certain limits, but the bounds are unknown, which can pose challenge for designing a control approach. Through the implementation of a leakage-type adaptive law that modifies the control system in accordance with tracking errors, the potential exists to confine the boundaries of uncertainties. The performance of uniform boundedness and uniform ultimate boundedness is shown by the Lyapunov stability theory. Numerical simulation of a representative case is performed to illustrate the effectiveness of the proposed control.