Dynamic Inversion-Based Real-Time Trajectory Planning Method for Wheeled Inverted Pendulum Using Asymptotic Expansion Technique

This paper presents a real-time trajectory planning method for highly dynamic tracking control of wheeled inverted pendulum (WIP) systems. A generic form of dynamic inversion problem for the class of WIPs is defined by combining a set of kinematic and dynamic differential constraints related to the...

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Detalhes bibliográficos

Principais autores:	Munyu Kim, Jongwoo Park, Dong-Il Park, Chanhun Park, Joono Cheong
Formato:	Artigo
Idioma:	Inglês
Publicado em:	IEEE 2023-01-01
coleção:	IEEE Access
Assuntos:	Wheeled inverted pendulum dynamic inversion real-time trajectory planning singular perturbation technique balancing robot underactuated system
Acesso em linha:	https://ieeexplore.ieee.org/document/10237188/
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