• DocumentCode
    2525118
  • Title

    A nonlinear control law for two-wheeled self-balanced vehicles

  • Author

    Madero, V. ; Aracil, J. ; Gordillo, F.

  • Author_Institution
    Dipt. de Ing. de Sist. y Autom., Univ. de Sevilla, Sevilla, Spain
  • fYear
    2010
  • fDate
    26-28 April 2010
  • Firstpage
    1557
  • Lastpage
    1562
  • Abstract
    This paper presents the design of a nonlinear control law for two-wheeled self-balanced vehicles. The design is based on forwarding and gives a Lyapunov function that allows us to obtain an estimation of the domain of attraction for the resultant law.
  • Keywords
    Lyapunov methods; nonlinear control systems; vehicles; Lyapunov function; nonlinear control law; two wheeled self balanced vehicles; Axles; Control systems; Lyapunov method; Nonlinear control systems; Nonlinear systems; Torque; Vehicle dynamics; Wheels;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    MELECON 2010 - 2010 15th IEEE Mediterranean Electrotechnical Conference
  • Conference_Location
    Valletta
  • Print_ISBN
    978-1-4244-5793-9
  • Type

    conf

  • DOI
    10.1109/MELCON.2010.5476280
  • Filename
    5476280
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2525118