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Authors: Danielle Sami Nasrallah ; Hannah Michalska and Jorge Angeles

Affiliation: Centre for Intelligent Machines, McGill University, Canada

ISBN: 978-972-8865-60-3

Keyword(s): Wheeled Robots, Nonholonomy, Posture Control, Inclined Plane, Zero-Dynamics, Lyapunov Functions, Sliding Mode, Invariance, Parameters Uncertainties.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation

Abstract: The paper considers a specific class of wheeled mobile robots referred to as mobile wheeled pendulums (MWP). Robots pertaining to this class are composed of two wheels rotating about a central body. The main feature of the MWP pertains to the central body, which can rotate about the wheel axes. As such motion is undesirable, the problem of the stabilization of the central body in MWP is crucial. The novelty of the work presented here resides in the construction of a three-imbricated loop controller that delivers the full control strategy for the robot posture and copes with parameters uncertainties. Simulations on the performance of the controlled system are provided.

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Paper citation in several formats:
Sami Nasrallah D.; Michalska H.; Angeles J. and (2006). ROBUST POSTURE CONTROL OF A MOBILEWHEELED PENDULUM MOVING ON AN INCLINED PLANE.In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 34-41. DOI: 10.5220/0001213100340041

@conference{icinco06,
author={Danielle {Sami Nasrallah} and Hannah Michalska and Jorge Angeles},
title={ROBUST POSTURE CONTROL OF A MOBILEWHEELED PENDULUM MOVING ON AN INCLINED PLANE},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={34-41},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001213100340041},
isbn={978-972-8865-60-3},
}

TY - CONF

JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - ROBUST POSTURE CONTROL OF A MOBILEWHEELED PENDULUM MOVING ON AN INCLINED PLANE
SN - 978-972-8865-60-3
AU - Sami Nasrallah, D.
AU - Michalska, H.
AU - Angeles, J.
PY - 2006
SP - 34
EP - 41
DO - 10.5220/0001213100340041

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