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Support Vector Machine based optimal control for mobile wheeled inverted pendulums with dynamics uncertainties

The balance and motion control based on LS-SVM (Least Squares Support Vector Machine) are considered for mobile wheeled inverted pendulums (WIP), in the presence of parametric and functional dynamics uncertainties. Based on Lyapunov synthesis, the proposed control mechanisms use the advantage of LS-SVM combined with on-line parameters estimation strategy in order to have an efficient approximation. Simulation results are presented to verify the effectiveness of the proposed LS-SVM based control.