A survey of wheeled mobile manipulation: A decision-making perspective
S Thakar, S Srinivasan… - Journal of …, 2023 - asmedigitalcollection.asme.org
Mobile manipulators that combine base mobility with the dexterity of an articulated
manipulator have gained popularity in numerous applications ranging from manufacturing …
manipulator have gained popularity in numerous applications ranging from manufacturing …
Robust hierarchical sliding mode control of a two-wheeled self-balancing vehicle using perturbation estimation
L Chen, H Wang, Y Huang, Z Ping, M Yu… - … Systems and Signal …, 2020 - Elsevier
This paper presents the design and implementation of hierarchical sliding mode control
(HSMC) with perturbation estimation (PE) technique on a two-wheeled self-balancing …
(HSMC) with perturbation estimation (PE) technique on a two-wheeled self-balancing …
Control of rotary inverted pendulum using model-free backstepping technique
J Huang, T Zhang, Y Fan, JQ Sun - IEEE Access, 2019 - ieeexplore.ieee.org
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 …
free backstepping (MFBS) control technique. We first discuss the new MFBS technique …
Formation control and trajectory tracking of nonholonomic mobile robots
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 …
a network of open-loop unstable, nonholonomic mobile inverted pendulum (MIP) robots …
Nonlinear control of mobile inverted pendulum
RM Brisilla, V Sankaranarayanan - Robotics and Autonomous Systems, 2015 - Elsevier
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 …
no-slip condition imposed on the wheel. In particular, it has four configuration variables to be …
Nonlinear optimal control for the wheeled inverted pendulum system
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 …
inverted pendulum (WIP). This is a difficult control and robotics problem due to the system's …
Bicycle robot balance control based on a robust intelligent controller
CH Chiu, CY Wu - Ieee Access, 2020 - ieeexplore.ieee.org
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 …
Based on a microprocessor, a bicycle robot (BR) is designed and implemented in this work …
Energy shaping for position and speed control of a wheeled inverted pendulum in reduced space
S Delgado, P Kotyczka - Automatica, 2016 - Elsevier
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 …
inverted pendulum, which is an underactuated, unstable mechanical system subject to …
Implementation of a ball inverted pendulum with omnidirectional moving ability using a robust fuzzy control strategy
CH Chiu, WJ Wang - ISA transactions, 2019 - Elsevier
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 …
problem. A Mamdani-type fuzzy controller and a compensated control technique are …
Online optimization based model predictive control on two wheel Segway system
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 …
system in both simulation and real-time. The Segway vehicle has been considered as a …