Velocity tracking control of a two-wheeled inverted pendulum robot: a comparative assessment between partial feedback linearization and LQR control schemes

Velocity tracking control of a two-wheeled inverted pendulum robot: a comparative assessment between partial feedback linearization and LQR control schemes

A Two-Wheeled Inverted Pendulum (TWIP) mobile robot attracted the interest of researchers worldwide due to its nonlinear and unstable dynamics. Literature review shows that, most of the nonlinear controllers proposed for the TWIP mobile robot are based on dynamic model derived using Lagrange approac...

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Bibliographic Details
Main Authors: M., Muhammad, S., Buyamin, M. N., Ahmad, S. W., Nawawi, Z., Ibrahim
Format: Article
Published: Praise Worthy Prize 2012
Subjects:
TA Engineering (General). Civil engineering (General)
Online Access:http://eprints.utm.my/id/eprint/33940/
http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:103619
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Institution: Universiti Teknologi Malaysia

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http://eprints.utm.my/id/eprint/33940/
http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:103619

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