Velocity and position control of a wheeled inverted pendulum by partial feedback linearization

IEEE Transactions on Robotics

Volumn 21, Issue 3, 2005, Pages 505-513

  Pathak, Kaustubh ^a   Franch, Jaume ^b   Agrawal, Sunil K ^a  

^a UNIVERSITY OF DELAWARE   (United States)

^b UNIVERSITAT POLITÈCNICA DE CATALUNYA   (Spain)

Author keywords

Lyapunov methods; Mobile robots; Modeling; Nonlinear systems; Position control; Velocity control

Indexed keywords

CONTROLLABILITY; FEEDBACK CONTROL; LINEARIZATION; LYAPUNOV METHODS; MATHEMATICAL MODELS; NONLINEAR CONTROL SYSTEMS; PENDULUMS; POSITION CONTROL; VELOCITY CONTROL;

PARTIAL FEEDBACK LINEARIZATION; WHEELED INVERTED PENDULUM;

MOBILE ROBOTS;

EID: 20844455713     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2004.840905     Document Type: Article

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