@inproceedings{1c29ffa8435c4f3ca9a381c94af12ed9,
title = "Velocity control for a multi-DOF two-wheel inverted pendulum robot",
abstract = "Two-wheel inverted pendulum (TWIP) robots attract public attention as environmentally-friendly products for personal transportation in recent years. This paper presents a multi DOF TWIP(MD-TWIP) robot to balance its structure as well as sliding and swinging mechanisms. To fulfill the trajectory planning task, we proposed a robust controller based on the sliding mode theory for equilibrium control. In addition, a velocity control strategy is also introduced based on the T-S fuzzy controller to achieved good results in robot motion. Results are verified in ADAMS and MATLAB platforms simultaneously. Furthermore, the proposed control strategy is implemented on a practical self-designed physical TWIP robot model.",
author = "Xueshan Gao and Yubai Liu and Shigong Jiang and Fuquan Dai",
note = "Publisher Copyright: {\textcopyright} 2015, World Scientific Publishing Co. Pte Ltd. All rights reserved.; 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015 ; Conference date: 06-09-2015 Through 09-09-2015",
year = "2015",
doi = "10.1142/9789814725248\_0063",
language = "English",
isbn = "9789814725231",
series = "Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015",
publisher = "World Scientific",
pages = "510--517",
booktitle = "Assistive Robotics",
address = "Singapore",
}