Abstract
This paper proposes a method of designing composite nonlinear feedback (CNF) control for under actuated systems. By biasing the output error feedback of the nonlinear part of CNF, a state that is not the reference state but also important, can be given attention not only in the linear part but in the nonlinear part of CNF as well. The proposed scheme is tested on two wheeled inverted pendulum (TWIP) mobile robot which is highly under actuated robot, and shows a better performance in balancing the robot and also in energy consumption.
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Acknowledgments
These authors are grateful to the Ministry of Education (MOE) and Universiti Teknologi Malaysia for the financial support through the GUP research fund, Vote Q.J130000.2523.11H31and special thanks to Bayero University, Kano, Nigeria for their support.
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Bature, A.A., Buyamin, S., Ahmad, M.N., Abdullahi, A.M., Muhammad, M., Zainal Abidin, M.S. (2017). Biased Robust Composite Nonlinear Feedback Control of Under Actuated Systems. In: Mohamed Ali, M., Wahid, H., Mohd Subha, N., Sahlan, S., Md. Yunus, M., Wahap, A. (eds) Modeling, Design and Simulation of Systems. AsiaSim 2017. Communications in Computer and Information Science, vol 752. Springer, Singapore. https://doi.org/10.1007/978-981-10-6502-6_26
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DOI: https://doi.org/10.1007/978-981-10-6502-6_26
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