Transformation control to an inverted pendulum mode of a mobile robot with wheel-arms using partial linearization.
Hiroaki FukushimaSatoru ShinmuraFumitoshi MatsunoPublished in: ICRA (2011)
Keyphrases
- inverted pendulum
- mobile robot
- open loop
- adaptive fuzzy
- feedback control
- intelligent control
- simulation study
- evolutionary neural networks
- path planning
- nonlinear systems
- legged robots
- dynamic environments
- initial conditions
- control algorithm
- fuzzy controller
- fuzzy systems
- autonomous robots
- biped robot
- autonomous navigation
- multi robot
- robotic systems
- closed loop
- fuzzy logic
- learning rate
- sagittal plane
- motion planning
- real time
- fuzzy model
- control system
- expert systems
- reinforcement learning