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• W2062975055 abstract "Open and closed loop control design for the planar motion of a unicycle model consisting of a double pendulum mounted on a rolling wheel is considered. The motion planning problem is solved by prescribing trajectories to the two pendulum angles, the wheel angle is then obtained by integrating twice. A feedforward control trajectory directly follows from this parametrization. A feedback stabilizing the planned motion is designed after linearization of the relevant subsystem about the planned trajectories. Simulation results show the usefulness of the result." @default.
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• W2062975055 date "2009-01-01" @default.
• W2062975055 modified "2023-09-27" @default.
• W2062975055 title "Motion planning and feedback control of a planar robotic unicycle model" @default.
• W2062975055 cites W1966232946 @default.
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• W2062975055 doi "https://doi.org/10.3182/20090819-3-pl-3002.00087" @default.
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