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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...
This paper addresses the state estimation problem of nonlinear systems. We formulate the problem using a minimum energy estimator (MEE) approach and propose an entropy penalized scheme to approximate the viscosity solution of the Hamilton-Jacobi equation that follows from the MEE formulation. We derive an explicit observer algorithm that is iterative and filtering-like, which continuously improves...
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...
This paper is concerned with the estimation problem for discrete-time stochastic linear systems with multiple packet dropouts. Based on a recently developed model for multiple-packet dropouts, the original system is transferred to a stochastic parameter system by augmentation of the state and measurement. The optimal full-order linear filter of the form of employing the received outputs at the current...
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