This paper introduces a three-loop robust control scheme for controlling the posture of an anti-tilting outdoor mobile robot, ATOM, moving on an inclined plane.
Robust posture control of a mobilewheeled pendulum moving on an inclined plane · D. Nasrallah, H. Michalska, J. Angeles · Published in ICINCO-RA 2006 · Engineering.
ROBUST POSTURE CONTROL OF A MOBILEWHEELED PENDULUM MOVING ON AN INCLINED PLANE. Danielle Sami Nasrallah, Hannah Michalska, Jorge Angeles.
The paper considers a specific class of wheeled mobile robots, namely, mobile wheeled pendulums (MWPs). Robots pertaining to this class are composed of two ...
Jun 1, 2007 · The main feature of MWP pertains to the central body, which can rotate about the wheel axis. As such motion is undesirable, the problem of the ...
The paper deals with the robust energy-based stabilization of a wheeled inverted pendulum, which is an underactuated, unstable mechanical system subject to ...
Position and Orientation Control of a Mobile Wheeled Pendulum Moving on an Inclined Plane ... This paper proposes a robust control algorithm for ...
Robust posture control of a mobilewheeled pendulum moving on an inclined plane. ICINCO-RA 2006: 34-41. [c1]. view. electronic edition via DOI · unpaywalled ...
In this paper, adaptive robust motion/force control for wheeled inverted pendulums is investigated with parametric and functional uncertainties.
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96 Nasrallah, D., Michalska, H., Angeles, J., Robust posture control of a mobile wheeled pendulum moving on an inclined plane, Pro- ceeding of the 3rd ...