A Lyapunov controller for self-balancing two-wheeled vehicles.
Ali MaddahiAmir H. ShamekhiAli GhaffariPublished in: Robotica (2015)
Keyphrases
- inverted pendulum
- closed loop
- control scheme
- control law
- control theory
- adaptive control
- nonlinear systems
- robust stability
- lyapunov function
- real time
- feedback control
- tracking error
- stability analysis
- control system
- traffic light
- mobile robot
- controller design
- class of nonlinear systems
- asymptotic stability
- pid controller
- control algorithm
- stability criterion
- traffic flow
- control strategy
- sufficient conditions
- chaotic systems
- optimal control
- vehicle detection
- traffic signal
- control method
- linear matrix inequality
- initial conditions
- dynamic model
- neural network
- adaptive neural
- control architecture
- bio inspired
- fuzzy controller
- traffic congestion
- adaptive fuzzy
- autonomous vehicles
- fuzzy model
- robotic systems
- travel time
- exponential stability
- single input single output
- robot manipulators
- delay dependent
- networked control systems
- pi controller
- fuzzy control
- fuzzy logic controller
- nonlinear functions
- nonlinear dynamics