两轮自平衡车辆的非线性控制律

Melecon 2010 - 2010 15th IEEE Mediterranean Electrotechnical Conference Pub Date : 2010-04-26 DOI:10.1109/MELCON.2010.5476280

V. Madero, J. Aracil, F. Gordillo

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引用次数: 5

摘要

本文提出了两轮自平衡车辆非线性控制律的设计。该设计是基于转发的，并给出了一个李雅普诺夫函数，使我们能够获得对所得定律的吸引力域的估计。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A nonlinear control law for two-wheeled self-balanced vehicles

This paper presents the design of a nonlinear control law for two-wheeled self-balanced vehicles. The design is based on forwarding and gives a Lyapunov function that allows us to obtain an estimation of the domain of attraction for the resultant law.

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Melecon 2010 - 2010 15th IEEE Mediterranean Electrotechnical Conference

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