(Asociación Argentina de Matemática Aplicada Computacional e Industrial, 2019-05) García, Andrés Gabriel; Arnaude, Ezequiel
Applying the necessary and sufficient condition derived in [3] to a balancing unicycle robot, a closed-loop
control strategy is presented to stabilize asymptotically the vehicle.
Unlike the classical linearization or even local and specialized strategies, the necessary and sufficient condition applied, render the design straightforward along with simple algebraic conditions to derive the controller.
