Robust Stabilization of Underactuated Two-Wheeled Balancing Vehicles on Uncertain Terrains with Nonlinear-Model-Based Disturbance Compensation

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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Bibliographic Details
Main Authors: Yongkuk Kim, SangJoo Kwon
Format: Article
Language:English
Published: MDPI AG 2022-11-01
Series:Actuators
Subjects:
two-wheeled inverted pendulum
underactuated system
disturbance rejection control
nonlinear disturbance observer (NDOB)
Online Access:https://www.mdpi.com/2076-0825/11/11/339

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