Energy shaping for position and speed control of a wheeled inverted pendulum in reduced space
From MaRDI portal
Publication:340675
DOI10.1016/j.automatica.2016.07.045zbMath1348.93239OpenAlexW2527753857MaRDI QIDQ340675
Publication date: 14 November 2016
Published in: Automatica (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1016/j.automatica.2016.07.045
Control of mechanical systems (70Q05) Stability of control systems (93D99) Nonholonomic dynamical systems (37J60)
Related Items (4)
Energy shaping for position and speed control of a wheeled inverted pendulum in reduced space ⋮ Adaptive backstepping control for multiple Euler-Lagrangian systems with independent dynamic communication ⋮ Hierarchical sliding-mode control of spatial inverted pendulum with heterogeneous comprehensive learning particle swarm optimization ⋮ A speed regulator for a force-driven cart-pole system
Cites Work
- Unnamed Item
- Energy shaping for position and speed control of a wheeled inverted pendulum in reduced space
- Discontinuous control of nonholonomic systems
- Symmetries in the wheeled inverted pendulum mechanism
- On the Hamiltonian formulation of nonholonomic mechanical systems
- Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
- Passivity based control of a class of Hamiltonian systems with nonholonomic constraints
- Local linear dynamics assignment in IDA-PBC
- Controlled Lagrangian systems with gyroscopic forcing and dissipation
- The Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems
- Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
This page was built for publication: Energy shaping for position and speed control of a wheeled inverted pendulum in reduced space
