Extending interconnection and damping assignment passivity-based control (IDA-PBC) to underactuated mechanical systems with nonholonomic Pfaffian constraints: The mobile inverted pendulum robot.
Vijay MuralidharanMaruthi T. RavichandranArun D. MahindrakarPublished in: CDC (2009)
Keyphrases
- mechanical systems
- inverted pendulum
- motion planning
- mobile robot
- open loop
- feedback control
- adaptive fuzzy
- sliding mode
- path planning
- trajectory planning
- legged robots
- sliding mode control
- trajectory tracking
- humanoid robot
- kinematic model
- biped robot
- sagittal plane
- nonlinear systems
- closed loop
- multi robot
- control law
- intelligent control
- control strategy
- initial conditions
- visual servoing
- simulation study
- autonomous robots
- control algorithm
- fuzzy controller
- degrees of freedom
- motion control
- control system
- optimal control
- robotic systems
- real time
- adaptive control
- gait analysis
- physical constraints
- manufacturing systems
- robot manipulators
- control scheme
- monte carlo
- power system
- multi modal
- fuzzy logic