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Two-wheeled self-balanced pendulum workspace improvement via underactuated robust nonlinear control
Affiliation:1. Departamento de Engenharia Eletrônica, Universidade Federal de Minas Gerais, 31270-901 Belo Horizonte, MG, Brazil;2. Departamento de Ingeniería de Sistemas y Automática, Universidad de Sevilla, 41092 Sevilla, Spain;1. Aalto University, School of Electrical Engineering, Department of Electrical Engineering and Automation, P.O. Box 15500, 00076 Aalto, Finland;2. MTT Agrifood Research Finland, Vakolantie 55, 03400 Vihti, Finland;1. Federal Technological University of Paraná, Av. Alberto Carazai, 86300-000 Cornélio Procópio, PR, Brazil;2. Department of Automation and Systems - Federal University of Santa Catarina, 88040-900 Florianópolis, SC, Brazil;1. Institute of Automation, Measurement and Applied Informatics, Slovak University of Technology in Bratislava, Faculty of Mechanical Engineering, Námestie slobody 17, 812 31 Bratislava, Slovakia;2. Institute of Automation, Information Engineering and Mathematics, Slovak University of Technology in Bratislava, Faculty of Chemical and Food Technology, Radlinského 9, 812 31 Bratislava, Slovakia
Abstract:
Keywords:Two-wheeled vehicles  Underactuated mechanical systems  Input coupling  Nonlinear control  Robust control
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