Balancing-Prioritized Anti-Slip Control of a Two-Wheeled Inverted Pendulum Robot Vehicle on Low-Frictional Surfaces with an Acceleration Slip Indicator

When a two-wheeled inverted pendulum (TWIP) robot vehicle travels on slippery roads, the occurrence of wheel slip extremely threatens its postural stability owing to the loss of wheel traction. If a severe wheel slip happens between the driving wheels and contact surfaces, no control techniques can...

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Principais autores:	Yongkuk Kim, Sangjoo Kwon
Formato:	Artigo
Idioma:	Inglês
Publicado em:	MDPI AG 2023-05-01
Colecção:	Machines
Assuntos:	two-wheeled inverted pendulum (TWIP) balancing robot anti-slip control traction control system (TCS) maximum transmissible torque estimation (MTTE) underactuated system
Acesso em linha:	https://www.mdpi.com/2075-1702/11/5/553
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