Balancing and Velocity Control of a Unicycle Robot Based on the Dynamic Model.
Seong Ik HanJang Myung LeePublished in: IEEE Trans. Ind. Electron. (2015)
Keyphrases
- dynamic model
- trajectory tracking
- robot manipulators
- control scheme
- experimental data
- reduced order model
- controller design
- reference trajectory
- end effector
- closed loop
- control system
- parallel manipulator
- control law
- mobile robot
- inverse kinematics
- robot control
- visual servoing
- autonomous robots
- robotic systems
- bi directional
- predictive control
- multiple models
- sliding mode control
- sliding mode
- control signals
- neural network controller
- desired trajectory
- control method
- neural controller
- multi robot
- shear stress
- optical flow
- kinematic model
- motion control
- physical constraints
- image sequences
- position and orientation
- fuzzy control