A modified dynamical formulation for two-wheeled self-balancing robots
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Publication:331220
DOI10.1007/s11071-015-2321-9zbMath1349.93283MaRDI QIDQ331220
Amir H. Shamekhi, Azadeh Shariati, Ali Ghaffari
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
Lagrangian method; dynamical equations; Kane's method; sliding-mode controller; two-wheeled self-balancing robot
93C85: Automated systems (robots, etc.) in control theory
70E60: Robot dynamics and control of rigid bodies
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