Gaussian Process-Enhanced, External and Internal Convertible Form-Based Control of Underactuated Balance Robots
Feng Han,Jingang Yi,Feng Han,Jingang Yi
External and internal convertible (EIC) form-based motion control (i.e., EIC-based control) is one of the effective approaches for underactuated balance robots. By sequentially controller design, trajectory tracking of the actuated subsystem and balance of the unactuated subsystem can be achieved simultaneously. However, with certain conditions, there exists uncontrolled robot motion under the EIC...
