Implementation of human conveyance vehicle using model-free AORCMAC control strategy

In this study, an adaptive output recurrent cerebellar model articulation controller (AORCMAC) is proposed for a human conveyance vehicle (HCV) control problem. A mechatronic system structure of the two wheels vehicle driven by two dc motors is briefly described. The main purpose of this paper is to develop a self-dynamic balancing and motion control strategy. Variable learning-rates for analytically determining the stability of a wheeled HCV system are established. Finally, experimental results show that the proposed model-free AORCMAC can control the whole system very well.

I. INTRODUCTION

In this study, the two-wheeled mobile vehicle is proposed and named as human conveyance vehicle (HCV). HCV is a new type of personal vehicle that has only two coaxially mounted wheels and a platform. Therefore, it occupies a small space. HCVs have high mobility and are suitable to be used in metropolis environments. They have many benefits for the user and the environment such as improving the city life quality, easier to park, and less gasoline use. Obviously, it can also help reduce the impact of global warming.