Adaptive Super-Twisting Control for Mobile Wheeled Inverted Pendulum Systems
نویسندگان
چکیده
منابع مشابه
Design and control of Two-Wheeled Inverted Pendulum Mobile Robot
This paper addresses design and path following control problem of a nonholonomic Two-Wheeled Inverted Pendulum Mobile Robot. We propose control architecture based on two control layers. A speed inner loop control scheme is first designed based on state feedback technique to ensure stability of the inverted structure of the robot. A second outer loop control scheme is proposed to help the robot ...
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ژورنال
عنوان ژورنال: Applied Sciences
سال: 2019
ISSN: 2076-3417
DOI: 10.3390/app9122508