Nonlinear Optimal Control for the Wheeled Inverted Pendulum System
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DOI: 10.1017/s0263574719000456
Abstract: Summary The article proposes a nonlinear optimal control method for the model of the wheeled inverted pendulum (WIP). This is a difficult control and robotics problem due to the system’s strong nonlinearities and due to… read more here.
Keywords: control; optimal control; wheeled inverted; inverted pendulum ... See more keywords
Multistage approach for trajectory optimization for a wheeled inverted pendulum passing under an obstacle
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DOI: 10.1017/s0263574723000401
Abstract: A robotic system constructed as a wheeled inverted pendulum (WIP) serves as an impressive demonstrator, since this kind of system is inherently nonlinear, unstable, and nonminimum phase. These properties may pose several difficulties, when it… read more here.
Keywords: system; wheeled inverted; inverted pendulum; trajectory ... See more keywords
High-Order Disturbance-Observer-Based Sliding Mode Control for Mobile Wheeled Inverted Pendulum Systems
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DOI: 10.1109/tie.2019.2903778
Abstract: In this paper, a novel high-order disturbance observer (HODO) for the mobile wheeled inverted pendulum (MWIP) system is first proposed. Based on a choice method of optimal gain matrices, the estimation accuracy of the HODO… read more here.
Keywords: mobile wheeled; control; wheeled inverted; disturbance observer ... See more keywords
Dual-Mode Model Predictive Control of an Omnidirectional Wheeled Inverted Pendulum
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DOI: 10.1109/tmech.2019.2943708
Abstract: This article describes the position and heading control of a novel form of omnidirectional wheeled inverted pendulum platform known as a collinear Mecanum drive. This concept uses four collinear Mecanum wheels to balance in a… read more here.
Keywords: control; wheeled inverted; inverted pendulum; omnidirectional wheeled ... See more keywords
Trajectory Design and Tracking Control for Nonlinear Underactuated Wheeled Inverted Pendulum
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DOI: 10.1155/2018/6134764
Abstract: An underactuated wheeled inverted pendulum (UWIP) is a nonlinear mechanical system that has two degrees of freedom and has only one control input. The motion planning problem for this nonlinear system is difficult to solve… read more here.
Keywords: trajectory; control; wheeled inverted; tracking control ... See more keywords
Adaptive Super-Twisting Control for Mobile Wheeled Inverted Pendulum Systems
Sign Up to like & getrecommendations! Published in 2019 at "Applied Sciences"
DOI: 10.3390/app9122508
Abstract: Recently, the mobile wheeled inverted pendulum (MWIP) has gained an increasing interest in the field of robotics due to traffic and environmental protection problems. However, the MWIP system is characterized by its nonlinearity, underactuation, time-varying… read more here.
Keywords: mobile wheeled; control; adaptive super; wheeled inverted ... See more keywords