scholarly journals Tracking Control of Wheeled Inverted Pendulum Robot Based on the Time-state Control Form

2013 ◽  
Vol 49 (10) ◽  
pp. 936-943 ◽  
Author(s):  
Satoko YAMAKAWA
Keyword(s):  
Tracking Control ◽  
Inverted Pendulum ◽  
State Control ◽  
Wheeled Inverted Pendulum

Vision-Based Human Tracking Control of a Wheeled Inverted Pendulum Robot

2016 ◽  
Vol 46 (11) ◽  
pp. 2423-2434 ◽  
Author(s):  
Weiquan Ye ◽  
Zhijun Li ◽  
Chenguang Yang ◽  
Junjie Sun ◽  
Chun-Yi Su ◽  
...  
Keyword(s):  
Tracking Control ◽  
Inverted Pendulum ◽  
Human Tracking ◽  
Wheeled Inverted Pendulum

Robust intelligent backstepping tracking control for wheeled inverted pendulum

2011 ◽  
Vol 15 (10) ◽  
pp. 2029-2040 ◽  
Author(s):  
Chih-Hui Chiu ◽  
Ya-Fu Peng ◽  
You-Wei Lin
Keyword(s):  
Tracking Control ◽  
Inverted Pendulum ◽  
Wheeled Inverted Pendulum

scholarly journals Trajectory Design and Tracking Control for Nonlinear Underactuated Wheeled Inverted Pendulum

2018 ◽  
Vol 2018 ◽  
pp. 1-10
Author(s):  
Shuli Gong ◽  
Ancai Zhang ◽  
Jinhua She ◽  
Xinghui Zhang ◽  
Yuanyuan Liu
Keyword(s):  
Tracking Control ◽  
Degrees Of Freedom ◽  
Inverted Pendulum ◽  
Dynamic Properties ◽  
Underactuated System ◽  
Planning Problem ◽  
Trajectory Design ◽  
Control Input ◽  
Wheeled Inverted Pendulum ◽  
Nonlinear Mechanical System

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 because of the existence of an uncontrollable manifold in the configuration space. In this paper, we present a method of designing motion trajectory for this underactuated system. The design of trajectory is based on the dynamic properties of the UWIP system. Furthermore, the tracking control of the UWIP for the constructed trajectory is also studied. A tracking control law is designed by using quadratic optimal control theory. Numerical simulation results verify the effectiveness of the presented theoretical results.

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