Abstract
In this study, a tracking controller for an inverted pendulum robot with two wheels is proposed. Two control inputs of the system are separately designed. One control input is used for stabilizing the body angle and controlling the translational velocity. The other input is designed based on the time-state control form in order to track a given trajectory in a horizontal plane. In numerical simulations and experiments, it was confirmed that the robot tracked a given desired trajectory even if the translational velocity fluctuated.
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Schedule a callMore From: The Proceedings of Mechanical Engineering Congress, Japan
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