Trajectory planning-based control of underactuated wheeled inverted pendulum robots

Science China Information Sciences volume 62, Article number: 50207 (2019) Cite this article

This is a preview of subscription content, access via your institution.

Access options

Buy single article

Instant access to the full article PDF.

US$ 39.95

Tax calculation will be finalised during checkout.

References

  1. 1

    Yang C G, Li Z J, Li J. Trajectory planning and optimized adaptive control for a class of wheeled inverted pendulum vehicle models. IEEE Trans Cybern, 2013, 43: 24–36

    Article  Google Scholar 

  2. 2

    Li Z, Yang C. Neural-adaptive output feedback control of a class of transportation vehicles based on wheeled inverted pendulum models. IEEE Trans Contr Syst Technol, 2012, 20: 1583–1591

    Article  Google Scholar 

  3. 3

    Yang C, Jiang Y, He W, et al. Adaptive parameter estimation and control design for robot manipulators with finite-time convergence. IEEE Trans Ind Electron, 2018, 65: 8112–8123

    Article  Google Scholar 

  4. 4

    Xu B, Shi Z K. An overview on flight dynamics and control approaches for hypersonic vehicles. Sci China Inf Sci, 2015, 58: 070201

    MathSciNet  Google Scholar 

  5. 5

    Sun N, Wu Y, Fang Y, et al. Nonlinear antiswing control for crane systems with double-pendulum swing effects and uncertain parameters: design and experiments. IEEE Trans Automat Sci Eng, 2018, 15: 1413–1422

    Article  Google Scholar 

  6. 6

    Sun N, Yang T, Fang Y, et al. Transportation control of double-pendulum cranes with a nonlinear quasi-PID scheme: design and experiments. IEEE Trans Syst Man Cybern Syst, 2018. doi: 10.1109/TSMC.2018.2871627

    Google Scholar 

  7. 7

    Ye W, Li Z, Yang C, et al. Vision-based human tracking control of a wheeled inverted pendulum robot. IEEE Trans Cybern, 2016, 46: 2423–2434

    Article  Google Scholar 

  8. 8

    Xu J X, Guo Z Q, Lee T H. Design and implementation of integral sliding-mode control on an underactuated two-wheeled mobile robot. IEEE Trans Ind Electron, 2014, 61: 3671–3681

    Article  Google Scholar 

  9. 9

    Yue M, An C, Du Y, et al. Indirect adaptive fuzzy control for a nonholonomic/underactuated wheeled inverted pendulum vehicle based on a data-driven trajectory planner. Fuzzy Sets Syst, 2016, 290: 158–177

    MathSciNet  Article  MATH  Google Scholar 

Download references

Acknowledgements

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).

Author information

Affiliations

  1. Institute of Robotics and Automatic Information Systems (IRAIS), Tianjin Key Laboratory of Intelligent Robotics (tjKLIR), Nankai University, Tianjin, 300350, China

    Dingkun Liang, Ning Sun, Yiming Wu & Yongchun Fang

Authors
  1. Dingkun Liang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Ning Sun
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Yiming Wu
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Yongchun Fang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Ning Sun.

Electronic supplementary material

Rights and permissions

Reprints and Permissions

About this article

Verify currency and authenticity via CrossMark

Cite this article

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

Download citation