Constrained adaptive robust trajectory tracking for WIP vehicles using model predictive control and extended state observer
This paper is concerned with a model predictive control (MPC) technique together with an
adaptive robust scheme for the trajectory tracking of a wheeled inverted pendulum vehicle in …
adaptive robust scheme for the trajectory tracking of a wheeled inverted pendulum vehicle in …
An efficient model predictive control for trajectory tracking of wheeled inverted pendulum vehicles with various physical constraints
M Yue, C An, JZ Sun - International Journal of Control, Automation and …, 2018 - Springer
This study presents a robust model predictive control (MPC) strategy to handle the trajectory
tracking problem for a underactuated two-wheeled inverted pendulum (WIP) vehicle, in …
tracking problem for a underactuated two-wheeled inverted pendulum (WIP) vehicle, in …
Robust motion control of a two-wheeled inverted pendulum with an input delay based on optimal integral sliding mode manifold
Y Zhou, Z Wang - Nonlinear Dynamics, 2016 - Springer
This paper presents a robust integral sliding mode controller for the back-and-forth motion of
a two-wheeled inverted pendulum. The control design of this nonlinear system is based on …
a two-wheeled inverted pendulum. The control design of this nonlinear system is based on …
Stability and direction control of a two-wheeled robotic wheelchair through a movable mechanism
A two-wheeled robotic wheelchair (TWRW) has a better manoeuvrability than a conventional
four-wheeled wheelchair. However, it is not statically stable near the upright posture or a …
four-wheeled wheelchair. However, it is not statically stable near the upright posture or a …
Control of different-axis two-wheeled self-balancing vehicles
J Tian, J Ding, Y Tai, Z Ma - IEEE Access, 2020 - ieeexplore.ieee.org
This paper investigates the controls of straight running and turning of a different-axis two-
wheeled self-balancing (DATWSB) vehicle. The inverted pendulum system (IPS) with …
wheeled self-balancing (DATWSB) vehicle. The inverted pendulum system (IPS) with …
Predefined-time global sliding mode control design for a 3D pendulum
JFS Trentin, DA Santos - Nonlinear Dynamics, 2022 - Springer
Researchers have been interested in the dynamics and control of pendulums for many
decades since the mathematical models of these systems are able to represent the …
decades since the mathematical models of these systems are able to represent the …
Multistage approach for trajectory optimization for a wheeled inverted pendulum passing under an obstacle
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 …
impressive demonstrator, since this kind of system is inherently nonlinear, unstable, and …
A two-wheeled machine with a handling mechanism in two different directions
KM Goher - Robotics and biomimetics, 2016 - Springer
Despite the fact that there are various configurations of self-balanced two-wheeled
machines (TWMs), the workspace of such systems is restricted by their current …
machines (TWMs), the workspace of such systems is restricted by their current …
Nonlinear reduced dynamics modelling and simulation of two-wheeled self-balancing mobile robot: SEGWAY system
S Haddout - Systems Science & Control Engineering, 2018 - Taylor & Francis
Segway is a self-balancing motorized two-wheeled vehicle which is able to carry the human
body. In the presented paper, a problem of nonholonomic constrained mechanical systems …
body. In the presented paper, a problem of nonholonomic constrained mechanical systems …
On the capability of wheeled mobile robots for heavy object manipulation considering dynamic stability constraints
In the current research, the maximum mass that can be transferred by a Wheeled Mobile
Robot (WMR) equipped with a manipulator will be found. Once such a multibody system …
Robot (WMR) equipped with a manipulator will be found. Once such a multibody system …