Journal ArticleDOI
Baggage Transportation and Navigation by a Wheeled Inverted Pendulum Mobile Robot
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TLDR
This paper reduces the position errors for navigation of the inverted pendulum robot by resetting the balance position occasionally while traveling with simple methods without an external observer or alternative sensors.Citations
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A New Adaptive Sliding-Mode Control Scheme for Application to Robot Manipulators
TL;DR: A new adaptive sliding-mode control scheme that uses the time-delay estimation (TDE) technique, then applies the scheme to robot manipulators and shows that the tracking errors of the proposed ASMC scheme are guaranteed to be uniformly ultimately bounded (UUB) with arbitrarily small bound.
Journal ArticleDOI
Design and Implementation of Integral Sliding-Mode Control on an Underactuated Two-Wheeled Mobile Robot
TL;DR: This paper presents a novel implementation of an integral sliding-mode controller (ISMC) on a two-wheeled mobile robot (2 WMR) and implements a linear nominal controller, which is found adequate in stabilizing the sliding manifold in a range around the equilibrium.
Journal ArticleDOI
Review of modelling and control of two-wheeled robots
TL;DR: The methods which have been investigated and the controllers used, first for balancing and movement of two-wheeled robots on flat terrain, then for two-wheeleled robots in other situations, where terrain may not be flat, where there may be secondary objectives and where the robots may have additional actuators.
Journal ArticleDOI
Design and Implementation of Fuzzy Control on a Two-Wheel Inverted Pendulum
TL;DR: This paper introduces the design and implementation of a two-wheel inverted pendulum (TWIP) system with a fuzzy control scheme and the system-on-a-programmable-chip (SoPC) technology.
Journal ArticleDOI
High-Order Disturbance-Observer-Based Sliding Mode Control for Mobile Wheeled Inverted Pendulum Systems
TL;DR: A novel high-order disturbance observer (HODO) for the mobile wheeled inverted pendulum (MWIP) system is first proposed and based on a choice method of optimal gain matrices, the estimation accuracy of the HODO can be improved.
References
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Journal ArticleDOI
JOE: a mobile, inverted pendulum
TL;DR: In this paper, the Industrial Electronics Laboratory at the Swiss Federal Institute of Technology, Lausanne, Switzerland, has built a prototype of a two-wheeled vehicle with two coaxial wheels, each of which is coupled to a DC motor.
Journal ArticleDOI
Velocity and position control of a wheeled inverted pendulum by partial feedback linearization
TL;DR: The dynamic model of a wheeled inverted pendulum (e.g., Segway, Quasimoro, and Joe) is analyzed from a controllability and feedback linearizability point of view and two novel controllers are designed.
Journal ArticleDOI
Dynamic Analysis of a Nonholonomic Two-Wheeled Inverted Pendulum Robot
TL;DR: This study is concerned with the development of a two-wheeled inverted pendulum robot that can be applied to an intelligent, mobile home robot and investigates the exact dynamics of the mechanism with the aid of 3-DOF modeling.
Proceedings Article
JOE : A mobile, Inverted Pendulum
TL;DR: The Industrial Electronics Laboratory at the Swiss Federal Institute of Technology, Lausanne, Switzerland, has built a prototype of a revolutionary two-wheeled vehicle that is able to do stationary U-turns and is coupled to a DC motor.
Journal ArticleDOI
Trajectory Tracking Control for Navigation of the Inverse Pendulum Type Self-Contained Mobile Robot
Yun Su Ha,Shin'ichi Yuta +1 more
TL;DR: A vehicle command system is designed and implemented for a wheeled inverse pendulum type mobile robot to control using the proposed algorithm to make a robot autonomously navigate in a plane while keeping its own balance.