Controllability and posture control of a wheeled pendulum moving on an inclined plane

IEEE Transactions on Robotics

Volumn 23, Issue 3, 2007, Pages 564-577

  Nasrallah, Danielle Sami ^a,b   Michalska, Hannah ^a   Angeles, Jorge ^a  

^a MCGILL UNIVERSITY   (Canada)

^b INSTITUTE FOR RESEARCH IN IMMUNOLOGY AND CANCER   (Canada)

Author keywords

Inclined plane; Lyapunov functions; Non holonomy; Nonlinear controllability; Posture control; Sliding mode; Stability analysis; Wheeled robots; Zero dynamics

Indexed keywords

FEEDBACK-LINEARIZABLE SUBSYSTEM; MOBILE WHEELED PENDULUMS (MWPS); POSTURE CONTROL; ROBOT POSTURE; WHEELED ROBOTS;

COMPUTER SIMULATION; CONTROL EQUIPMENT; CONTROLLABILITY; FEEDBACK LINEARIZATION; SLIDING MODE CONTROL;

MOBILE ROBOTS;

EID: 34447327805     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2007.898953     Document Type: Article

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