A modified dynamical formulation for two-wheeled self-balancing robots

DOI10.1007/S11071-015-2321-9MaRDI QIDQ331220zbMATH OpenOpenAlexFDO

Authors A. Ghaffari, Azadeh Shariati, Amir H. Shamekhi

Publication date 26 October 2016

Published in Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11071-015-2321-9

zbMATH Keywords

dynamical equationsKane's methodLagrangian methodsliding-mode controllertwo-wheeled self-balancing robot

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Adaptive backstepping control of wheeled inverted pendulums models
• Adaptive sliding-mode control for two-wheeled inverted pendulum vehicle based on zero-dynamics theory
• Metrical Lattice and the Problem of Electricity

Cited in

(3)

• On the capability of wheeled mobile robots for heavy object manipulation considering dynamic stability constraints
• scientific article; zbMATH DE number 6745967 (Why is no real title available?)
• Design low-order robust controller for self-balancing two-wheel vehicle

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