Nonlinear controller for an inverted pendulum having restricted travel
Automatica (Journal of IFAC)
Nonlinear control of a swinging pendulum
Automatica (Journal of IFAC)
Nonlinear and Adaptive Control Design
Nonlinear and Adaptive Control Design
Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles
Robotics and Autonomous Systems
Hybrid control for global stabilization of the cart-pendulum system
Automatica (Journal of IFAC)
Modelling and simulation of double-link scenario in a two-wheeled wheelchair
Integrated Computer-Aided Engineering
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Nested saturation control design techniques are usually applied to derive a control law for a two-wheeled vehicle with an inverted pendulum. In presence of external disturbances, this control law may result in a catastrophic problem of finite escape time in the controlled system. This paper proposes control solutions to overcome the above problem. First, a disturbance observer is designed to estimate the external disturbances exponentially. Several coordinate transformations and partial-feedback linearization techniques are then derived to transform the vehicle's dynamics into an upper-triangular form. Next, nested p-times differentiable saturation and backstepping techniques are combined to design a control law for the transformed system. Attractive features of our proposed control design include a large domain of attraction and simplicity of tuning control gains and the controller implementation. Numerical simulations illustrate the results.