Dynamic modelling and optimal control scheme of wheel inverted pendulum for mobile robot application
Unstable wheel inverted pendulum is modelled and controlled deploying Kane’s method and optimal partial-state PID control scheme. A correct derivation of nonlinear mathematical model of a wheel inverted pendulum is obtained using a proper definition of the geometric context of active and inertia for...
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Main Authors: | Shamsudin, Mohamad Amir, Mamat, Rosbi, Nawawi, Sophan Wahyudi |
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Format: | Article |
Language: | English |
Published: |
2013
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Subjects: | |
Online Access: | http://eprints.utm.my/id/eprint/40394/1/MohamadAmirShamsudin2013_DynamicModellingandOptimalControlScheme.pdf http://eprints.utm.my/id/eprint/40394/ http://dx.doi.org/10.5121/ijctcm.2013.3601 |
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