Springer Nature is making SARS-CoV-2 and COVID-19 research free. View research | View latest news | Sign up for updates

Composite following control for wheeled inverted pendulum vehicles based on human-robot interaction

This is a preview of subscription content, log in to check access.


  1. 1

    He W, Li Z J, Chen C L P. A survey of human-centered intelligent robots: issues and challenges. IEEE/CAA J Autom Sin, 2017, 4: 602–609

  2. 2

    Ding L, Gao H B, Deng Z Q, et al. Experimental study and analysis on driving wheels’ performance for planetary exploration rovers moving in deformable soil. J Terramech, 2011, 48: 27–45

  3. 3

    Yang C G, Ganesh G, Haddadin S, et al. Humanlike adaptation of force and impedance in stable and unstable interactions. IEEE Trans Robot, 2011, 27: 918–930

  4. 4

    Fang H, Shang C S, Chen J. An optimization-based shared control framework with applications in multirobot systems. Sci China Inf Sci, 2018, 61: 014201

  5. 5

    Herrera D, Roberti F, Toibero M, et al. Human interaction dynamics for its use in mobile robotics: impedance control for leader-follower formation. IEEE/CAA J Autom Sin, 2017, 4: 696–703

  6. 6

    Huang J, Ri S, Liu L, et al. Nonlinear disturbance observer-based dynamic surface control of mobile wheeled inverted pendulum. IEEE Trans Control Syst Technol, 2015, 23: 2400–2407

  7. 7

    Yue M, An C, Du Y, et al. Indirect adaptive fuzzy control for a nonholonomic/underactuated wheeled inverted pendulum vehicle based on a data-driven trajectory planner. Fuzzy Sets Syst, 2016, 290: 158–177

  8. 8

    Li Z J, Huang B, Ye Z F, et al. Physical human-robot interaction of a robotic exoskeleton by admittance control. IEEE Trans Ind Electron, 2018, 65: 9614–9624

  9. 9

    Wang L X. Stable adaptive fuzzy controllers with application to inverted pendulum tracking. IEEE Trans Syst Man Cybern B, 1996, 26: 677–691

Download references


This work was supported by National Natural Science Foundation of China (Grant Nos. 61573078, 61873047, 61773084) and Natural Science Foundation of Liaoning Province of China (Grant No. 20170540171).

Author information

Correspondence to Ming Yue.

Electronic supplementary material

Rights and permissions

Reprints and Permissions

About this article

Verify currency and authenticity via CrossMark

Cite this article

Yue, M., Ning, Y., Yu, S. et al. Composite following control for wheeled inverted pendulum vehicles based on human-robot interaction. Sci. China Inf. Sci. 62, 50206 (2019).

Download citation