Robust adaptive motion/force control for wheeled inverted pendulums

Automatica

Volumn 46, Issue 8, 2010, Pages 1346-1353

  Li, Zhijun ^a   Zhang, Yunong ^b  

^a SHANGHAI JIAO TONG UNIVERSITY   (China)

^b SUN YAT SEN UNIVERSITY   (China)

Author keywords

Nonholonomic constraints; Unmodelled dynamics; Wheeled inverted pendulums; Zero dynamics

Indexed keywords

BOUNDEDNESS; CLOSED-LOOP SIGNALS; CONTROL DESIGN; EXTENSIVE SIMULATIONS; FRICTION FORCE; FUNCTIONAL UNCERTAINTY; LYAPUNOV SYNTHESIS; NON HOLONOMIC CONSTRAINT; ON-LINE ADAPTATION; REFERENCE SIGNALS; ROBUST ADAPTIVE; ROBUST-ADAPTIVE CONTROL; SEMI-GLOBAL; SYSTEM OUTPUT; UNMODELLED DYNAMICS; WHEELED INVERTED PENDULUM; ZERO DYNAMICS;

PENDULUMS;

DYNAMICS;

EID: 77955419963     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.automatica.2010.05.015     Document Type: Article

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