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- W2606480701 abstract "Unstable wheel inverted pendulum is modelled and controlled deploying Kane’s method and optimal partial-state PID control scheme. A correct derivation of nonlinearmathematical model ofa wheel inverted pendulum is obtained using a proper definition of the geometric context of active and inertia forces. Then the model is decoupled to two linear subsystems namely balancing and heading subsystems. Afterward partial-state PID controller is proposed and formulatedto quadratic optimal regulation tuning method. It enables partial-state PID to be optimally tuned and guarantees a satisfactory level of states error anda realistic utilization of torque energy. Simulation and numerical an alyses are carried out to analyse system’s stability and to determine the performance of the proposed controller for mobile wheel inverted pendulum application." @default.
- W2606480701 created "2017-04-28" @default.
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- W2606480701 date "2013-01-01" @default.
- W2606480701 modified "2023-09-27" @default.
- W2606480701 title "DYNAMIC M ODELLING AND O PTIMAL CONTROL SCHEME OFW HEEL INVERTED PENDULUM FOR M OBILE ROBOT APPLICATION" @default.
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