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This work was supported by National Natural Science Foundation of China (Grant Nos. 61873134, 61503200), the Young Elite Scientists Sponsorship Program of Tianjin (Grant No. TJSQNTJ-2017-02), and the China Postdoctoral Science Foundation (Grant Nos. 2017T100153, 2016M600186).
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Liang, D., Sun, N., Wu, Y. et al. Trajectory planning-based control of underactuated wheeled inverted pendulum robots. Sci. China Inf. Sci. 62, 50207 (2019). https://doi.org/10.1007/s11432-018-9623-3