Robust Control for Trajectory Tracking and Balancing of a Ballbot
This article presents a robust control method for trajectory tracking and balancing of a ballbot with uncertainty. Since the ballbot is an underactuated system, previous studies have designed controllers using a hierarchical strategy and/or multi-loop approach. However, multi-loop control systems re...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9179759/ |