Velocity tracking control of a two-wheeled inverted pendulum robot: a comparative assessment between partial feedback linearization and LQR control schemes

• Main Authors: M., Muhammad, S., Buyamin, M. N., Ahmad, S. W., Nawawi, Z., Ibrahim
• Format: Article
• Published: Praise Worthy Prize 2012
• Subjects: TA Engineering (General). Civil engineering (General)
• Online Access: http://eprints.utm.my/id/eprint/33940/; http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:103619

A Two-Wheeled Inverted Pendulum (TWIP) mobile robot attracted the interest of researchers worldwide due to its nonlinear and unstable dynamics. Literature review shows that, most of the nonlinear controllers proposed for the TWIP mobile robot are based on dynamic model derived using Lagrange approac...