Modeling and Optimal Controller Based on Disturbance Detector for the Stabilization of a Three-link Inverted Pendulum Mobile Robot
This work presents the realization of a complicated stabilization problem for a three inverted pendulum links-based mobile robot. The actuators of the mobile robot are direct current motors that have tachometer couplings to measure both the position and speed of the wheels and links. Using direct me...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-11-01
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| Series: | Electronics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2079-9292/9/11/1821 |