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
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;
Conference_Titel :
MELECON 2010 - 2010 15th IEEE Mediterranean Electrotechnical Conference
Conference_Location :
Valletta
Print_ISBN :
978-1-4244-5793-9
DOI :
10.1109/MELCON.2010.5476280
