H tracking adaptive fuzzy integral sliding mode control for a train of self-balancing vehicles

Mansour Karkoub, Chien Chih Weng, Tzu Sung Wu, Wen Shyong Yu, Ming Guo Her

Research output: Contribution to journalArticle


A series of self-balancing vehicles is stabilized and controlled in this research work. The system is composed of several Segway TM type platforms interconnected through flexible links. The system is inherently highly nonlinear and underactuated which makes the tracking task very challenging. In this paper, H tracking adaptive fuzzy integral sliding mode control scheme is proposed for n-self-balancing interconnected vehicles system where uncertainties and disturbances are included. First, a nonlinear dynamic model with uncertainties for the train system with n-vehicles is derived using the Lagrangian method assuming the vehicles moving in tandem on a inclined path. Then, the dynamics of the train system with n-vehicles is formulated as an error dynamics according to a specified reference signal. A fuzzy technique with an on-line estimation scheme is developed to approximate the dynamics of the train system with n-vehicles. The advantage of employing an adaptive fuzzy system is the use of linear analytical results instead of estimating nonlinear uncertain functions in dynamics with an online update law. Using the concept of parallel distributed compensation, the adaptive fuzzy scheme combined with the integral sliding mode control scheme is synthesized to address the system uncertainties and the external disturbances such that H tracking performance is achieved. Simulation results for 2-self-balancing interconnected vehicles system are presented to show the effectiveness and performance of the proposed control scheme.

Original languageEnglish
JournalInternational Journal of Dynamics and Control
Publication statusAccepted/In press - 1 Jan 2018



  • Adaptive fuzzy control
  • H tracking performance
  • Integral sliding mode control
  • Lyapunov stability theorem
  • Riccati-like equation
  • Self-balancing vehicles
  • Underactuated system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Civil and Structural Engineering
  • Modelling and Simulation
  • Mechanical Engineering
  • Control and Optimization
  • Electrical and Electronic Engineering

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