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Modeling using Lagrange equation of 1st kind and state-space control of a real inverse pendulum is considered. The mathematical model of the pendulum is derived and compared with measurements of the real system. The negative influence of the dry friction was considered and the oscillation was successfully reduced.
In this research, an equation of motion of a WIP (Wheeled Inverted Pendulum) running on an irregular terrain such as the inclined road is derived. The WIP becomes a popular platform for mobile robots which should be running on not only regular pavement but also irregular terrain. In order for the WIP to run on those roads there requires a robust controller which can be achieved from a fine equation...
This paper deals with a control approach dedicated to stable limit cycle generation for underactuated mechanical systems. The proposed approach is based on partial nonlinear feedback linearization and dynamic control for optimal periodic reference trajectories tracking. Simulation results and experiments show the efficiency of the proposed approach.
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