Motion control of a two-wheeled mobile vehicle with an inverted pendulum

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 60, Issue 3-4, 2010, Pages 577-605

  Do, Khac Duc ^a   Seet, Gerald ^a  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

Author keywords

Disturbance observer; Inverted pendulum; p times differentiable saturation function; Partial feedback linearization; Two wheeled mobile vehicle

Indexed keywords

DISTURBANCE OBSERVER; INVERTED PENDULUM; MOBILE VEHICLE; PARTIAL FEEDBACK LINEARIZATION; SATURATION FUNCTION;

BACKSTEPPING; CONTROL THEORY; DESIGN; PENDULUMS; VEHICLES;

FEEDBACK LINEARIZATION;

EID: 78650721243     PISSN: 09210296     EISSN: 15730409     Source Type: Journal    
DOI: 10.1007/s10846-010-9432-9     Document Type: Article

References (17)

1. Do, K.D., Pan, J.: Control of Ships and Underwater Vehicles: Design for Underactuated and Nonlinear Marine Systems. Springer (2009)
2. R Lozano I Fantoni D Block 1995 Stabilization of the invened pendulum around its homoclinic orbit Syst. Control Lett. 31 851 862
3. C Chung J Hauser 1995 Nonlinear control of a swinging pendulum Automatica 31 851 862 0825.93535 10.1016/0005-1098(94)00148-C 1337334
4. Astrom, K., Furuta, K.: Swinging up a pendulum by energy control. In: IFAC 96 Preprints 13th World Congress of IFAC, pp. 37-42 (1996)
5. E Mazenc L Praly 1996 Adding integrators, saturated controls and stabilization for feedforward systems IEEE Trans. Automat. Contr. 41 11 1559 1577 0865.93049 10.1109/9.543995 1419682
6. Q Wei W Dayawansa W Levine 1995 Nonlinear controller for an inverted pendulum having restricted travel Automatica 31 841 850 0825.93536 10.1016/0005-1098(94)00138-9 1337333
7. A Teel 1996 A nonlinear small gain theorem for the analysis of control systems with saturation IEEE Trans. Automat. Contr. 41 9 1256 1270 0863.93073 10.1109/9.536496 1409471
8. Olfati-Saber, R.: Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles. PhD. thesis, Massachusetts Institute of Technology (2001)
9. J Zhao M Spong 2001 Hybrid control for global stabilization of the cart-pendulum system Automatica 37 12 1941 1951 1005.93041 10.1016/S0005- 1098(01)00164-9 2110680 (Pubitemid 32951290)
10. Khalil, H.: Nonlinear Systems. Prentice Hall, Englewood Cliffs, NJ (2002)
11. Krstic, M., Kanellakopoulos, I., Kokotovic, P.: Nonlinear and Adaptive Control Design. Wiley, New York (1995)
12. Olfati-Saber, R., Megretski, A.: Controller design for a class of underactuted nonlinear systems. In: Proceedings of the 37th Conference on Decision and Control, pp. 4182-4187 (1998)
13. Waldron, K.J., Kinzel, G.L.: Kinematics Dynamics and Design of Machinery. Wiley, New York (2004)
14. R Olfati-Saber 2006 Flocking for multi-agent dynamic systems: algorithms and theory IEEE Trans. Automat. Contr. 51 401 420 10.1109/TAC.2005.864190 2205679
15. KD Do 2009 Output-feedback formation tracking control of unicycle-type mobile robots with limited sensing ranges Robot. Auton. Syst. 57 34 47 10.1016/j.robot.2008.03.006
16. KD Do 2007 Bounded controllers for formation stabilization of mobile agents with limited sensing ranges IEEE Trans. Automat. Contr. 52 3 569 576 10.1109/TAC.2007.892382 2300493
17. Widder, D.V.: Advanced Calculus, 2nd edn. Dover, New York (1989)