Abstract
AbstractIn 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 for asymptotically converging to a given trajectory in a horizontal plane based on the time-state control form. In numerical simulations and experimental results, it was confirmed that the robot tracks a given desired trajectory.
Full Text 
Sign-in/Register to access full text options
Sign-in/Register to access full text options 
Published version (
Free)
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
