TY - GEN
T1 - Visual servo velocity and pose control of a wheeled inverted pendulum through partial-feedback linearization
AU - Gans, Nicholas R.
AU - Hutchinson, Seth A.
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=34250690209&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2006.281788
DO - 10.1109/IROS.2006.281788
M3 - Conference contribution
AN - SCOPUS:34250690209
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3823
EP - 3828
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -