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• W2510331705 abstract "This work presents a controlled Lagrangian for the wheeled inverted pendulum system in which the upward position of the pendulum becomes a stable nonlinear equilibrium. Unlike the general form of underactuated systems, the configuration variables are not partitioned into actuation and underactuated subsets and instead we show that the energy shaping and matching conditions can be achieved in a constructive procedure. The asymptotic stability is guaranteed by the definiteness of the shaped energy and applying a suitable dissipation. We also apply this self-balancing control to the system which is partially linearized and controlled in the wheel position. The efficiency of the control law along with the wheel positioning is observed by simulation." @default.
• W2510331705 created "2016-09-16" @default.
• W2510331705 creator A5022727895 @default.
• W2510331705 creator A5038344075 @default.
• W2510331705 date "2016-05-01" @default.
• W2510331705 modified "2023-09-26" @default.
• W2510331705 title "A constructive self-balancing controlled Lagrangian for wheeled inverted pendulum" @default.
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• W2510331705 doi "https://doi.org/10.1109/ccdc.2016.7531269" @default.
• W2510331705 hasPublicationYear "2016" @default.
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