Zero dynamics stabilisation and adaptive trajectory tracking for WIP vehicles through feedback linearisation and LQR technique

DOI10.1080/00207179.2016.1169440MaRDI QIDQ2979574zbMATH OpenOpenAlexFDO

Authors Ming Yue, Cong An, Jianzhong Sun

Publication date 25 April 2017

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179.2016.1169440

zbMATH Keywords

wheeled inverted pendulumlinear quadratic regulator (LQR)sliding-mode controlunstable zero dynamicsfeedback linearisation

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Linearizations (93B18) Control/observation systems governed by ordinary differential equations (93C15) Adaptive control/observation systems (93C40) Stability of control systems (93D99)

Recommendations

• Adaptive backstepping control of wheeled inverted pendulums models
• Robust adaptive backstepping in tracking control for wheeled inverted pendulum
• Adaptive sliding-mode control for two-wheeled inverted pendulum vehicle based on zero-dynamics theory
• Indirect adaptive fuzzy control for a nonholonomic/underactuated wheeled inverted pendulum vehicle based on a data-driven trajectory planner
• Advances in robust control of mobile wheeled inverted pendulum

Cites work

• scientific article; zbMATH DE number 3839814 (Why is no real title available?)
• Adaptive backstepping control of wheeled inverted pendulums models
• Containment control of networked autonomous underwater vehicles with model uncertainty and ocean disturbances guided by multiple leaders
• Design and implementation of a new sliding mode controller on an underactuated wheeled inverted pendulum
• Direct adaptive controller for uncertain MIMO dynamic systems with time-varying delay and dead-zone inputs
• Dynamic analysis of variable structure force control of hydraulic actuators via the reaching law approach
• Handbook of Hybrid Systems Control
• Lyapunov design of global state and output feedback trackers for non-holonomic control systems
• Observer-based adaptive sliding mode control for nonlinear Markovian jump systems
• Robust adaptive motion/force control for wheeled inverted pendulums
• Robust and adaptive variable structure output feedback control of uncertain systems with input nonlinearity

Cited in

(4)

• Adaptive sliding-mode control for two-wheeled inverted pendulum vehicle based on zero-dynamics theory
• Zero dynamics analysis and adaptive tracking control of underactuated multibody systems with flexible links
• Robust adaptive backstepping in tracking control for wheeled inverted pendulum
• Indirect adaptive fuzzy control for a nonholonomic/underactuated wheeled inverted pendulum vehicle based on a data-driven trajectory planner

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