Review of modelling and control of two-wheeled robots Review Article

Authors: Ronald Ping Man Chan, Karl A. Stol, C. Roger Halkyard

Abstract:
In the past decade, there has been much more research in two-wheeled robots which actively stabilize themselves. Various models and controllers have been applied both to explain and control the dynamics of two-wheeled robots. We explore the methods which have been investigated and the controllers which have been used, first for balancing and movement of two-wheeled robots on flat terrain, then for twowheeled robots in other situations, where terrain may not be flat, where there may be secondary objectives and where the robots may have additional actuators.

Published in: Annual Reviews in Control  (Volume 37, Issue 1, April  2013)

Publisher: Elsevier

ISSN Information: 1367-5788

Review of modelling and control of two-wheeled robots Review Article

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