Trajectory planning-based control of underactuated wheeled inverted pendulum robots.
Dingkun LiangNing SunYiming WuYongchun FangPublished in: Sci. China Inf. Sci. (2019)
Keyphrases
- inverted pendulum
- trajectory planning
- mobile robot
- motion planning
- obstacle avoidance
- legged robots
- nonlinear systems
- path planning
- multi robot
- simulation study
- feedback control
- control law
- autonomous robots
- intelligent control
- humanoid robot
- fuzzy controller
- mechanical systems
- robotic systems
- initial conditions
- fuzzy systems
- degrees of freedom
- robot manipulators
- control algorithm
- dynamic environments
- neural network
- control scheme
- control method
- process control
- vision system
- dynamic programming