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

This is a preview of subscription content, access via your institution.

References

  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

    Article  Google Scholar 

  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

    Article  Google Scholar 

  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

    Article  Google Scholar 

  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

    MathSciNet  Article  Google Scholar 

  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

    Article  Google Scholar 

  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

    Article  Google Scholar 

  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

    MathSciNet  Article  MATH  Google Scholar 

  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

    Article  Google Scholar 

  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

    Article  Google Scholar 

Download references

Acknowledgements

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

Affiliations

Authors

Corresponding author

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). https://doi.org/10.1007/s11432-018-9696-2

Download citation