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...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2018-01-01
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| Series: | Mathematical Problems in Engineering |
| Online Access: | http://dx.doi.org/10.1155/2018/6134764 |