Motion controller design of wheeled inverted pendulum with an input delay via optimal control theory

DOI10.1007/S10957-015-0759-ZzbMath1336.49050OpenAlexW402397072MaRDI QIDQ274105

Yusheng Zhou, Zaihua Wang

Publication date: 22 April 2016

Published in: Journal of Optimization Theory and Applications (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10957-015-0759-z

zbMATH Keywords

feedback linearizationmotion controlinput delayoptimal trajectory tracking controlpredictor-based feedbackwheeled inverted pendulum

Mathematics Subject Classification ID

Applications of mathematical programming (90C90) Optimal feedback synthesis (49N35) Applications of optimal control and differential games (49N90) Control of mechanical systems (70Q05) Linear optimal control problems (49N05)

Related Items (5)

Turning motion control design of a two-wheeled inverted pendulum using curvature tracking and optimal control theory ⋮ Predictor feedback and integrator backstepping of linear systems with distributed unbounded delays ⋮ Stabilization of linear systems cascaded with a chain of infinite-delayed integrators ⋮ Stability analysis and predictor feedback control for systems with unbounded delays ⋮ Lyapunov characterizations on input-to-state stability of nonlinear systems with infinite delays

Cites Work

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• Finite spectrum assignment of unstable time-delay systems with a safe implementation
• Truncated Predictor Feedback for Time-Delay Systems
• Trajectory modeling of robot manipulators in the presence of obstacles

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