Energy shaping for the robust stabilization of a wheeled inverted pendulum

@inproceedings{Delgado2015EnergySF,
  title={Energy shaping for the robust stabilization of a wheeled inverted pendulum},
  author={Sergio Delgado and Paul Kotyczka},
  year={2015}
}
The paper deals with the robust energy-based stabilization of a wheeled inverted pendulum, which is an underactuated, unstable mechanical system subject to nonholonomic constraints. The equilibrium to be stabilized is characterized by the length of the driven path, the orientation, and the pitch angle. We use the method of Controlled Lagrangians which is… CONTINUE READING