Control of the Underactuated Inertia Wheel Inverted Pendulum for Stable Limit Cycle Generation.
Sebastien AndaryAhmed ChemoriSébastien KrutPublished in: Adv. Robotics (2009)
Keyphrases
- inverted pendulum
- feedback control
- control algorithm
- intelligent control
- nonlinear systems
- simulation study
- limit cycle
- fuzzy controller
- disturbance rejection
- initial conditions
- control system
- fuzzy systems
- mobile robot
- control loop
- optimal control
- control scheme
- fuzzy logic controller
- legged robots
- steady state
- walking speed
- real time
- learning rate
- control strategy
- degrees of freedom
- markov chain
- genetic algorithm
- machine learning