Zero dynamics stabilisation and adaptive trajectory tracking for WIP vehicles through feedback linearisation and LQR technique
DOI10.1080/00207179.2016.1169440zbMath1360.93173OpenAlexW2312746800MaRDI QIDQ2979574
Ming Yue, Jianzhong Sun, Cong An
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
sliding-mode controlwheeled inverted pendulumlinear quadratic regulator (LQR)unstable zero dynamicsfeedback linearisation
Adaptive control/observation systems (93C40) Linearizations (93B18) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15) Stability of control systems (93D99)
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