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2017 | OriginalPaper | Chapter

Biased Robust Composite Nonlinear Feedback Control of Under Actuated Systems

Authors : Amir A. Bature, Salinda Buyamin, Mohamad N. Ahmad, Auwalu M. Abdullahi, Mustapha Muhammad, Mohamad Shukri Zainal Abidin

Published in: Modeling, Design and Simulation of Systems

Publisher: Springer Singapore

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Abstract

This paper proposes a method of designing composite nonlinear feedback (CNF) control for under actuated systems. By biasing the output error feedback of the nonlinear part of CNF, a state that is not the reference state but also important, can be given attention not only in the linear part but in the nonlinear part of CNF as well. The proposed scheme is tested on two wheeled inverted pendulum (TWIP) mobile robot which is highly under actuated robot, and shows a better performance in balancing the robot and also in energy consumption.

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Metadata
Title
Biased Robust Composite Nonlinear Feedback Control of Under Actuated Systems
Authors
Amir A. Bature
Salinda Buyamin
Mohamad N. Ahmad
Auwalu M. Abdullahi
Mustapha Muhammad
Mohamad Shukri Zainal Abidin
Copyright Year
2017
Publisher
Springer Singapore
DOI
https://doi.org/10.1007/978-981-10-6502-6_26

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