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In this paper, we deal with the backstepping control design of the two-wheeled inverted-pendulum-type autonomous robot, the e-nuvo-wheel, made in ZMP Inc.. First, we derive a second-order motion equation of the angle and design an adaptive integral backstepping controller to stabilize the angle in the manner of the modeling in. This controller requires the full-state measurements. In the output feedback...
In this paper, we consider the state estimation problem for a class of nonlinear systems with second degree polynomial nonlinearities with noisy measurements. This class of nonlinearities is chosen based on the fact that they may lead to chaotic behavior for possible later use on chaotic communications applications. An unbiased state estimator is proposed having a quadratic structure and a parametric...
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