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Visual Servo Velocity and Pose Control of a Wheeled Inverted Pendulum through Partial-Feedback Linearization

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Visual Servo Velocity and Pose Control of a Wheeled Inverted Pendulum through Partial-Feedback Linearization
— Vision-based control of wheeled vehicles is a difficult problem due to nonholonomic constraints on velocities. This is further complicated in the control of vehicles with drift terms and dynamics containing fewer actuators than velocity terms. We explore one such system, the wheeled inverted pendulum, embodied by the Segway. We present two methods of eliminating the effects of nonactuated attitude motions and a novel controller based on partial feedback linearization. This novel controller outperforms a controller based on typical linearization about an equilibrium point.
Nicholas R. Gans, Seth Hutchinson
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Nicholas R. Gans, Seth Hutchinson
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