A balancing control strategy for a one-wheel pendulum robot based on dynamic model decomposition: Simulations and experiments

IEEE/ASME Transactions on Mechatronics

Volumn 16, Issue 4, 2011, Pages 763-768

  Jin, Hongzhe ^a   Hwang, Jongmyung ^a   Lee, Jangmyung ^a  

^a Pusan National University   (South Korea)

Author keywords

Gain scheduling; one wheel pendulum robot (OWPR); posture balancing; speed control

Indexed keywords

CONTROL ALGORITHMS; CONTROL INPUTS; CONTROL STRATEGIES; EXPERIMENTAL STUDIES; GAIN SCHEDULING; LAGRANGIAN FORMULATIONS; MODEL DECOMPOSITION; ON DYNAMICS; ONE-WHEEL PENDULUM ROBOT (OWPR); POSTURE BALANCING; ROBOT BODY; ROBOTIC SYSTEMS; ROLLING WHEELS; STATE VARIABLES; STATE-SPACE MODELS; STEERING MOTION;

ALGORITHMS; COMPUTER SIMULATION; DYNAMIC MODELS; FLIGHT DYNAMICS; PENDULUMS; WHEELS;

ROBOTS;

EID: 79956120950     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2010.2054102     Document Type: Article

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