Posture stability control of a small inverted pendulum robot in trajectory tracking using a control moment gyro.
Kunitoshi TanakaSumito NagasawaPublished in: Adv. Robotics (2020)
Keyphrases
- inverted pendulum
- trajectory tracking
- closed loop
- visual servoing
- control system
- mobile robot
- dynamic model
- feedback control
- intelligent control
- control method
- bi directional
- sliding mode
- legged robots
- sagittal plane
- physical constraints
- iterative learning
- neural network
- autonomous robots
- initial conditions
- robot control
- fuzzy controller
- control algorithm
- optimal control
- adaptive fuzzy
- nonlinear systems
- robot manipulators
- humanoid robot
- robotic systems
- control strategy
- evolutionary computation
- learning algorithm