Visual servo velocity and pose control of a wheeled inverted pendulum through partial-feedback linearization

Nicholas R. Gans, Seth Andrew Hutchinson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Vision-based control of wheeled vehicles is a difficult problem due to nonholonomic constraints on velocities. This is further complicated in the control of vehicles with drift terms and dynamics containing fewer actuators than velocity terms. We explore one such system, the wheeled inverted pendulum, embodied by the Segway. We present two methods of eliminating the effects of nonactuated attitude motions and a novel controller based on partial feedback linearization. This novel controller outperforms a controller based on typical linearization about an equilibrium point.

Original languageEnglish (US)
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages3823-3828
Number of pages6
DOIs
StatePublished - Dec 1 2006
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: Oct 9 2006Oct 15 2006

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country/TerritoryChina
CityBeijing
Period10/9/0610/15/06

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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