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• W2912277204 abstract "This paper presents a control design method for implementing planar turning motion of a two-wheeled inverted pendulum with an input delay. The control task requires that the inverted pendulum is kept stabilized during the whole turning motion process along a pre-settled curve. Firstly, by using the theory of planar curve, key observations about the motion law of the two-wheeled mobile chassis are made and they are used to set up a dynamical trajectory tracking target. Then, by adjusting the parameters in the tracking target and the weights in the quadratic performance criterion, the optimal integral sliding mode controller based on a linear quadratic regulator is designed for keeping the vehicle body stabilized and tracking a circular path for the two-wheeled inverted pendulum. An illustrative example is given to demonstrate the validity of the theory with numerical simulation." @default.
• W2912277204 created "2019-02-21" @default.
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• W2912277204 date "2019-01-28" @default.
• W2912277204 modified "2023-10-12" @default.
• W2912277204 title "Turning Motion Control Design of a Two-Wheeled Inverted Pendulum Using Curvature Tracking and Optimal Control Theory" @default.
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• W2912277204 doi "https://doi.org/10.1007/s10957-019-01472-4" @default.
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