Robust Stabilization of Underactuated Two-Wheeled Balancing Vehicles on Uncertain Terrains with Nonlinear-Model-Based Disturbance Compensation
Two-wheeled inverted pendulum (TWIP) vehicles are prone to lose their mobility and postural stability owing to their inherently unstable and underactuated dynamic characteristics, specifically when they encounter abruptly changed slopes or ground friction. Overcoming such environmental disturbances...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-11-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/11/11/339 |