Reliable angular motion estimation have received signi cant attention in recent years due to
remarkable advances in sensor technologies and related requirements in many control …

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 …

Research on autonomous platforms ranging from unmanned aerial and underwater vehicles
to wheeled, tracked and legged machines enlarges the application boundaries of robotic …

Stability is an important concern for vehicles which move heavy loads, accelerate or brake
aggressively, turn at speed, or operate on sloped terrain. In many cases, vehicles face more …

In real-world environments, quadruped robots often need to traverse unstructured terrains
and may encounter various unexpected impacts. To enhance the motion balance …

This article proposes a virtual angle‐based adaptive control method for trajectory tracking
and balancing of ball‐balancing robots without velocity measurements. The trajectory …

High precision stabilization is one of the fundamental problems in the control of robotic
manipulators. It is generally regarded as a special case of the trajectory tracking problem in …

Motion restrictions in robotic devices may introduce complex requirements for any closed-
loop control design, mainly when the robot joints must track reference trajectories that force …

This paper introduces a comprehensive motion planning–tracking–safety constraint scheme
for a 3D ballbot system. A nonlinear control for the 3D ballbot system is designed based on …

Orientation estimation is crucial for the successful operation of robots in autonomous control,
enabling effective navigation, environmental interaction, and precise task execution …