This paper presents adaptive robust regulation methods for self-balancing and yaw motion of a two-wheeled human transportation vehicle (HTV) with varying payload and system uncertainties. The proposed regulators are aimed at providing consistent driving performance for the HTV with system uncertainties and parameter variations caused by different drivers. By decomposing the overall system into the yaw motion subsystems and the wheeled inverted pendulum, two proposed adaptive robust regulators are synthesized to achieve self-balancing and yaw motion control. Numerical simulations and experimental results on different terrains show that the proposed adaptive robust controllers are capable of achieving satisfactory control actions to steer the vehicle.
