Velocity and position control of a wheeled inverted pendulum by partial feedback linearization.
Kaustubh PathakJaume FranchSunil Kumar AgrawalPublished in: IEEE Trans. Robotics (2005)
Keyphrases
- inverted pendulum
- position control
- feedback control
- closed loop
- feedback loop
- control scheme
- fuzzy controller
- simulation study
- intelligent control
- control system
- nonlinear systems
- control algorithm
- robotic manipulator
- fuzzy systems
- force control
- initial conditions
- control law
- mobile robot
- robot arm
- control strategy
- pid controller
- neural network
- real time
- control strategies
- experimental data
- control method
- evolutionary algorithm
- dynamic model
- robot manipulators
- knowledge base
- degrees of freedom
- evolutionary computation
- membership functions