Mobile manipulators that combine base mobility with the dexterity of an articulated
manipulator have gained popularity in numerous applications ranging from manufacturing …

This paper presents the design and implementation of hierarchical sliding mode control
(HSMC) with perturbation estimation (PE) technique on a two-wheeled self-balancing …

This paper presents control studies of a rotary inverted pendulum (RIP) by applying a model-
free backstepping (MFBS) control technique. We first discuss the new MFBS technique …

In this brief, we design Lyapunov-based control laws to achieve two multi-objective tasks for
a network of open-loop unstable, nonholonomic mobile inverted pendulum (MIP) robots …

The mobile inverted pendulum (MIP) is a robotic system with nonholonomic constraint due to
no-slip condition imposed on the wheel. In particular, it has four configuration variables to be …

The article proposes a nonlinear optimal control method for the model of the wheeled
inverted pendulum (WIP). This is a difficult control and robotics problem due to the system's …

In recent years, human assistant transportation systems have received much attention.
Based on a microprocessor, a bicycle robot (BR) is designed and implemented in this work …

The paper deals with the energy-based stabilization and speed control of a wheeled
inverted pendulum, which is an underactuated, unstable mechanical system subject to …

A robust fuzzy controller (RFC) is proposed for a ball inverted pendulum (BIP) system control
problem. A Mamdani-type fuzzy controller and a compensated control technique are …

The current work explores the modelling, control and realistic execution of nonlinear segway
system in both simulation and real-time. The Segway vehicle has been considered as a …