Non-Lyapunov control of a balancing robot
Date
2019-05
Journal Title
Journal ISSN
Volume Title
Publisher
Asociación Argentina de Matemática Aplicada Computacional e Industrial
Abstract
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.
Description
Keywords
Balancing robot, Nonlinear system, Asymptotic stability
Citation
García, A. G. & Arnaude, E. (2019). Non-Lyapunov control of a balancing robot. EN: Matemática Aplicada, Computacional e Industrial, 7, 553-556.
Collections
Endorsement
Review
Supplemented By
Referenced By
Creative Commons license
Except where otherwised noted, this item's license is described as info:eu-repo/semantics/openAccess