Matches in SemOpenAlex for { <https://semopenalex.org/work/W2034903360> ?p ?o ?g. }
- W2034903360 endingPage "36" @default.
- W2034903360 startingPage "24" @default.
- W2034903360 abstract "In this paper, we investigate optimized adaptive control and trajectory generation for a class of wheeled inverted pendulum (WIP) models of vehicle systems. Aiming at shaping the controlled vehicle dynamics to be of minimized motion tracking errors as well as angular accelerations, we employ the linear quadratic regulation optimization technique to obtain an optimal reference model. Adaptive control has then been developed using variable structure method to ensure the reference model to be exactly matched in a finite-time horizon, even in the presence of various internal and external uncertainties. The minimized yaw and tilt angular accelerations help to enhance the vehicle rider's comfort. In addition, due to the underactuated mechanism of WIP, the vehicle forward velocity dynamics cannot be controlled separately from the pendulum tilt angle dynamics. Inspired by the control strategy of human drivers, who usually manipulate the tilt angle to control the forward velocity, we design a neural-network-based adaptive generator of implicit control trajectory (AGICT) of the tilt angle which indirectly “controls” the forward velocity such that it tracks the desired velocity asymptotically. The stability and optimal tracking performance have been rigorously established by theoretic analysis. In addition, simulation studies have been carried out to demonstrate the efficiency of the developed AGICT and optimized adaptive controller." @default.
- W2034903360 created "2016-06-24" @default.
- W2034903360 creator A5019906827 @default.
- W2034903360 creator A5040854034 @default.
- W2034903360 creator A5082668462 @default.
- W2034903360 date "2013-02-01" @default.
- W2034903360 modified "2023-10-16" @default.
- W2034903360 title "Trajectory Planning and Optimized Adaptive Control for a Class of Wheeled Inverted Pendulum Vehicle Models" @default.
- W2034903360 cites W1906755568 @default.
- W2034903360 cites W1980705651 @default.
- W2034903360 cites W1981692507 @default.
- W2034903360 cites W1997193739 @default.
- W2034903360 cites W2013167594 @default.
- W2034903360 cites W2021042867 @default.
- W2034903360 cites W2035585209 @default.
- W2034903360 cites W2040870209 @default.
- W2034903360 cites W2047094035 @default.
- W2034903360 cites W2049168360 @default.
- W2034903360 cites W2049933349 @default.
- W2034903360 cites W2065676327 @default.
- W2034903360 cites W2068777106 @default.
- W2034903360 cites W2081030172 @default.
- W2034903360 cites W2085133845 @default.
- W2034903360 cites W2090429571 @default.
- W2034903360 cites W2097476511 @default.
- W2034903360 cites W2098732944 @default.
- W2034903360 cites W2100805923 @default.
- W2034903360 cites W2105416884 @default.
- W2034903360 cites W2114847465 @default.
- W2034903360 cites W2120499270 @default.
- W2034903360 cites W2128011079 @default.
- W2034903360 cites W2128758417 @default.
- W2034903360 cites W2128901503 @default.
- W2034903360 cites W2131658850 @default.
- W2034903360 cites W2133594302 @default.
- W2034903360 cites W2138459461 @default.
- W2034903360 cites W2146014298 @default.
- W2034903360 cites W2149012351 @default.
- W2034903360 cites W2150270730 @default.
- W2034903360 cites W2157751613 @default.
- W2034903360 cites W2157890204 @default.
- W2034903360 cites W2158546931 @default.
- W2034903360 cites W2160917764 @default.
- W2034903360 cites W2161401171 @default.
- W2034903360 cites W2162601317 @default.
- W2034903360 cites W2166116275 @default.
- W2034903360 cites W2166778519 @default.
- W2034903360 cites W2167038379 @default.
- W2034903360 cites W2168983184 @default.
- W2034903360 doi "https://doi.org/10.1109/tsmcb.2012.2198813" @default.
- W2034903360 hasPubMedId "https://pubmed.ncbi.nlm.nih.gov/22695357" @default.
- W2034903360 hasPublicationYear "2013" @default.
- W2034903360 type Work @default.
- W2034903360 sameAs 2034903360 @default.
- W2034903360 citedByCount "186" @default.
- W2034903360 countsByYear W20349033602012 @default.
- W2034903360 countsByYear W20349033602013 @default.
- W2034903360 countsByYear W20349033602014 @default.
- W2034903360 countsByYear W20349033602015 @default.
- W2034903360 countsByYear W20349033602016 @default.
- W2034903360 countsByYear W20349033602017 @default.
- W2034903360 countsByYear W20349033602018 @default.
- W2034903360 countsByYear W20349033602019 @default.
- W2034903360 countsByYear W20349033602020 @default.
- W2034903360 countsByYear W20349033602021 @default.
- W2034903360 countsByYear W20349033602022 @default.
- W2034903360 countsByYear W20349033602023 @default.
- W2034903360 crossrefType "journal-article" @default.
- W2034903360 hasAuthorship W2034903360A5019906827 @default.
- W2034903360 hasAuthorship W2034903360A5040854034 @default.
- W2034903360 hasAuthorship W2034903360A5082668462 @default.
- W2034903360 hasBestOaLocation W20349033602 @default.
- W2034903360 hasConcept C110639684 @default.
- W2034903360 hasConcept C121332964 @default.
- W2034903360 hasConcept C127413603 @default.
- W2034903360 hasConcept C1276947 @default.
- W2034903360 hasConcept C13662910 @default.
- W2034903360 hasConcept C154945302 @default.
- W2034903360 hasConcept C15744967 @default.
- W2034903360 hasConcept C158622935 @default.
- W2034903360 hasConcept C192921069 @default.
- W2034903360 hasConcept C19417346 @default.
- W2034903360 hasConcept C203479927 @default.
- W2034903360 hasConcept C2775924081 @default.
- W2034903360 hasConcept C2775936607 @default.
- W2034903360 hasConcept C2779844322 @default.
- W2034903360 hasConcept C41008148 @default.
- W2034903360 hasConcept C47446073 @default.
- W2034903360 hasConcept C5594486 @default.
- W2034903360 hasConcept C62520636 @default.
- W2034903360 hasConcept C6557445 @default.
- W2034903360 hasConcept C78519656 @default.
- W2034903360 hasConcept C86803240 @default.
- W2034903360 hasConcept C88337583 @default.
- W2034903360 hasConceptScore W2034903360C110639684 @default.
- W2034903360 hasConceptScore W2034903360C121332964 @default.
- W2034903360 hasConceptScore W2034903360C127413603 @default.
- W2034903360 hasConceptScore W2034903360C1276947 @default.