Control of a 2-DOF omnidirectional mobile inverted pendulum - Viet, Tuan Dinh; Doan, Phuc Thinh; Giang, Hoang; Kim, Hak Kyeong; Kim, Sang Bong (Journal of mechanical science and technology, 2012)
Keywords: Adaptative systems; Adaptive control systems; Applied sciences; Computer science; control theory; systems; Control; Control theory. Systems; Differential equations; Disks; Dynamical Systems; Dynamics; Engineering; Exact sciences and technology; Fundamental areas of phenomenology (including applications); Industrial and Production Engineering; Mathematical models; Mechanical Engineering; Pendulums; Physics; Robotics; Solid dynamics (ballistics, collision, multibody system, stabilization...); Solid mechanics; Stabilization; Universal joints; Vibration; 기계공학; Omnidirectional mobile platform (OMP); 2-DOF inverted pendulum (2-DOF IP); Adaptive backstepping controller (ABC); Omnidirectional mobile inverted pendulum (OM-IP); Inversed pendulum; Wheel; Differential equation; Stabilization; Solid dynamic; Substructure; Experimental study; Recursive algorithm; Adaptive control; Modeling; Adaptive method; Backstepping control; Center of mass; Dynamic model; omnidirectional vehicle; Universal joint; Lyapunov function