Motion control of a two-wheeled mobile vehicle with an inverted pendulum

DOI10.1007/S10846-010-9432-9MaRDI QIDQ614973zbMATHOpenAlexFDO

Authors Gerald Seet, Khac Duc Do

Publication date 4 January 2011

Published in Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s10846-010-9432-9

zbMATH Keywords

\(p\)-times differentiable saturation functionDisturbance observerInverted pendulumPartial feedback linearizationTwo-wheeled mobile vehicle

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• scientific article; zbMATH DE number 49326 (Why is no real title available?)
• A nonlinear small gain theorem for the analysis of control systems with saturation
• Adding integrations, saturated controls, and stabilization for feedforward systems
• Bounded Controllers for Formation Stabilization of Mobile Agents With Limited Sensing Ranges
• Flocking for Multi-Agent Dynamic Systems: Algorithms and Theory
• Hybrid control for global stabilization of the cart-pendulum system
• Nonlinear control of a swinging pendulum
• Nonlinear controller for an inverted pendulum having restricted travel
• Nonlinear systems.

Cited in

(14)

• Control of an Inverted Wheeled Pendulum on a Soft Surface
• Integral‐type‐observer‐based control with measurement uncertainty and application to two‐wheeled inverted pendulum
• Position and speed control of a two-wheeled balance mobile robot
• Adaptive sliding-mode control for two-wheeled inverted pendulum vehicle based on zero-dynamics theory
• Optimal control of a two‐wheeled self‐balancing robot by reinforcement learning
• Sliding-mode velocity control of a two-wheeled self-balancing vehicle
• Indirect adaptive fuzzy control for a nonholonomic/underactuated wheeled inverted pendulum vehicle based on a data-driven trajectory planner
• On the application of the Ważewski method to the problem of global stabilization
• Turning motion control design of a two-wheeled inverted pendulum using curvature tracking and optimal control theory
• A robust optimal trajectory tracking control for systems with an input delay
• A trajectory planning and tracking control approach for obstacle avoidance of wheeled inverted pendulum vehicles
• Robust adaptive backstepping in tracking control for wheeled inverted pendulum
• Observer-based controllers for two-wheeled inverted robots with unknown input disturbance and model uncertainty
• Practical asymptotic stability of stochastic systems driven by Lévy processes and its application to control of TORA systems

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