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This paper introduces a tilt control based movement control scheme for inverted pendulum mobile robots. It is based on direct tilt angle control (DTAC) with a disturbance observer using the Kalman filtering technique. The DTAC is expected to be an effective for high acceleration, and the presented observer achieves a better estimation even if tilt joint angle sensor is a poorly-resolved. Although...
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...
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