Modeling and Optimal Controller Based on Disturbance Detector for the Stabilization of a Three-link Inverted Pendulum Mobile Robot

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...

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Bibliographic Details
Main Authors: Luis Alfonso Jordán-Martínez, Maricela Guadalupe Figueroa-García, José Humberto Pérez-Cruz
Format: Article
Language:English
Published: MDPI AG 2020-11-01
Series:Electronics
Subjects:
inverted pendulum type mobile robot
stabilization control
optimal controller based on disturbance detector
Online Access:https://www.mdpi.com/2079-9292/9/11/1821

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