2023
DOI: 10.1371/journal.pone.0285495
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Modelling and robust controller design for an underactuated self-balancing robot with uncertain parameter estimation

Osama A. Choudhry,
Muhammad Wasim,
Ahsan Ali
et al.

Abstract: A comprehensive literature review of self-balancing robot (SBR) provides an insight to the strengths and limitations of the available control techniques for different applications. Most of the researchers have not included the payload and its variations in their investigations. To address this problem comprehensively, it was realized that a rigorous mathematical model of the SBR will help to design an effective control for the targeted system. A robust control for a two-wheeled SBR with unknown payload paramet… Show more

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