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Over the last decade, numbers of researcher has been increased in the two-wheeled inverted pendulum mobile robots or commonly known as balancing robot. This paper presents the linear modeling of two wheels inverted pendulum mobile robot and the robustness of sliding mode control. Linear modeling plant was obtained from the simplified nonlinear plant that was based on state-space approach. The dynamic...
When an underwater robot is to work under the water, the manipulator has to reach out. This can change the center of the gravity and cause the robot pitching. Itpsilas difficult to make a maneuver for a pitched robot. An automechanism was developed to balance the pose of the robot. A sliding mode variable structure controller was designed to control the balance device, in which a disturbance observer...
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