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• W2312746800 startingPage "2533" @default.
• W2312746800 abstract "This paper presents a composite control strategy integrating adaptive sliding-mode control and the linear quadratic regulator (LQR) technology for a wheeled inverted pendulum (WIP) vehicle system. The system can be partitioned into an actuated rotational subsystem and an underactuated longitudinal subsystem based on the different control input in the mathematical model. In particular, the instability analysis of zero dynamic for the underactuated longitudinal subsystem is investigated in detail using the feedback linearisation technology. Then, an adaptive sliding-mode control is designed for the trajectory tracking, where an adaptive algorithm is developed to handle with the parameter uncertainties. In addition, the LQR technique is employed to guarantee zero dynamics stability so as to achieve simultaneously the vehicle body stabilisation at the upright position. Simulation results show the good performance and strong robustness of the proposed control schemes." @default.
• W2312746800 created "2016-06-24" @default.
• W2312746800 creator A5052264244 @default.
• W2312746800 creator A5055044421 @default.
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• W2312746800 date "2016-04-24" @default.
• W2312746800 modified "2023-10-12" @default.
• W2312746800 title "Zero dynamics stabilisation and adaptive trajectory tracking for WIP vehicles through feedback linearisation and LQR technique" @default.
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• W2312746800 doi "https://doi.org/10.1080/00207179.2016.1169440" @default.
• W2312746800 hasPublicationYear "2016" @default.
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