Dynamic modelling and optimal control scheme of wheel inverted pendulum for mobile robot application
Unstable wheel inverted pendulum is modelled and controlled deploying Kane's method and optimal partial-state PID control scheme. A correct derivation of nonlinear mathematical model of a wheel inverted pendulum is obtained using a proper definition of the geometric context of active and inerti...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
2013.
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| Subjects: | |
| Online Access: | Get fulltext |