A modified dynamical formulation for two-wheeled self-balancing robots

DOI10.1007/s11071-015-2321-9zbMath1349.93283OpenAlexW1639165219MaRDI 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

zbMATH Keywords

Lagrangian methoddynamical equationsKane's methodsliding-mode controllertwo-wheeled self-balancing robot

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)

Related Items (1)

On the capability of wheeled mobile robots for heavy object manipulation considering dynamic stability constraints

Cites Work

• Adaptive backstepping control of wheeled inverted pendulums models
• Adaptive sliding-mode control for two-wheeled inverted pendulum vehicle based on zero-dynamics theory
• Metrical Lattice and the Problem of Electricity

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