Trajectory tracking control of a self-balancing robot via adaptive neural networks
In order to ensure trajectory tracking on a two degrees-of-freedom self-balancing robot (SBR) a control scheme, based on the combination of adaptive neural networks and input–output linearization, is presented in this paper. Both external and internal dynamics are analyzed and proof of uniform ultim...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2022-11-01
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| Series: | Engineering Science and Technology, an International Journal |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2215098622001689 |