Adaptive Fuzzy Backstepping Control for Ballbot Segway

This paper proposes an adaptive fuzzy backstepping control (AFBSC) for a Segway ball system. AFBSC is developed through a combination of two primary backstepping controllers (BSC) to enhance the control performance of the system, in which a Sugeno fuzzy model adjusts the parameters in the control design. The simulation results verify that the better performance of the AFBSC in comparison with the conventional BSC technique.