Observer-Based Controllers for Two-Wheeled Inverted Robots with Unknown Input Disturbance and Model Uncertainty
In this paper, two controllers with a compound disturbance observer are proposed for a two-wheeled inverted robot (TWIR) with model uncertainty and unknown input disturbance. First, an equivalent linear model of the TWIR with uncertainty and input disturbance is proposed using the Taylor series expa...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2020-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2020/7205737 |
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