Control of the Underactuated Inertia Wheel Inverted Pendulum for Stable Limit Cycle Generation.

Sebastien Andary Ahmed Chemori Sébastien Krut

Published 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