Trajectory Design and Tracking Control for Nonlinear Underactuated Wheeled Inverted Pendulum

An underactuated wheeled inverted pendulum (UWIP) is a nonlinear mechanical system that has two degrees of freedom and has only one control input. The motion planning problem for this nonlinear system is difficult to solve because of the existence of an uncontrollable manifold in the configuration s...

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Bibliographic Details
Main Authors: Shuli Gong, Ancai Zhang, Jinhua She, Xinghui Zhang, Yuanyuan Liu
Format: Article
Language:English
Published: Hindawi Limited 2018-01-01
Series:Mathematical Problems in Engineering
Online Access:http://dx.doi.org/10.1155/2018/6134764