Robust adaptive motion/force control for wheeled inverted pendulums
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Publication:608446
DOI10.1016/J.AUTOMATICA.2010.05.015zbMath1209.37111OpenAlexW2090429571MaRDI QIDQ608446
Publication date: 25 November 2010
Published in: Automatica (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1016/j.automatica.2010.05.015
Sensitivity (robustness) (93B35) Adaptive control/observation systems (93C40) Dynamical systems in control (37N35)
Related Items (18)
Robust feedback control of the underactuated inertia wheel inverted pendulum under parametric uncertainties and subject to external disturbances: LMI formulation ⋮ Exponential stability and spectral analysis of the pendulum system under position and delayed position feedbacks ⋮ Optimal feedback gains of a delayed proportional-derivative (PD) control for balancing an inverted pendulum ⋮ Indirect adaptive fuzzy control for a nonholonomic/underactuated wheeled inverted pendulum vehicle based on a data-driven trajectory planner ⋮ Turning motion control design of a two-wheeled inverted pendulum using curvature tracking and optimal control theory ⋮ Robust Adaptive Backstepping in Tracking Control for Wheeled Inverted Pendulum ⋮ LMI-based LSVF control of a class of nonlinear systems with parametric uncertainty: an application to an inverted pendulum system ⋮ Zero dynamics stabilisation and adaptive trajectory tracking for WIP vehicles through feedback linearisation and LQR technique ⋮ LMI-based synthesis of a robust saturated controller for an underactuated mechanical system subject to motion constraints ⋮ Adaptive sliding-mode tracking control for a class of nonholonomic mechanical systems ⋮ Adaptive backstepping control of wheeled inverted pendulums models ⋮ Balancing a wheeled inverted pendulum with a single accelerometer in the presence of time delay ⋮ On the application of the Ważewski method to the problem of global stabilization ⋮ On robust hybrid force/motion control strategies based on actuator dynamics for nonholonomic mobile manipulators ⋮ Asymptotic tracking control of uncertain MIMO nonlinear systems with extended condition for controllability ⋮ Adaptive sliding-mode control for two-wheeled inverted pendulum vehicle based on zero-dynamics theory ⋮ Adaptive motion/force control of nonholonomic mechanical systems with affine constraints ⋮ NN-adaptive output feedback tracking control for a class of discrete-time non-affine systems with a dynamic compensator
Cites Work
- Adaptive stabilization of uncertain nonholonomic systems by state and output feedback.
- On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty
- Lyapunov-based controller for the inverted pendulum cart system
- Adaptive robust stabilization of dynamic nonholonomic chained systems
- Autonomous vertical landing on an oscillating platform: An internal-model based approach
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