9 Papers
8 Citations
Cong An is an academic researcher from Dalian University of Technology. The author has contributed to research in topics: Underactuation & Nonholonomic system. The author has an hindex of 7, co-authored 9 publications.
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Papers
Constrained Adaptive Robust Trajectory Tracking for WIP Vehicles Using Model Predictive Control and Extended State Observer
TL;DR: Simulation results validate that the control system is robust against the external disturbance and model uncertainty, thereby demonstrating the effectiveness and robustness of the proposed control strategy.
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Indirect adaptive fuzzy control for a nonholonomic/underactuated wheeled inverted pendulum vehicle based on a data-driven trajectory planner
TL;DR: This study rigorously proves the system stability and convergence of the tracking error signals using the Lyapunov theory and LaSalle's invariance theorem and demonstrates the efficiency of the proposed control strategies and the implementations of the algorithms.
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An Efficient Model Predictive Control for Trajectory Tracking of Wheeled Inverted Pendulum Vehicles with Various Physical Constraints
Ming Yue,Cong An,Jianzhong Sun +2 more
TL;DR: This study presents a robust model predictive control strategy to handle the trajectory tracking problem for a underactuated two-wheeled inverted pendulum (WIP) vehicle, in addition to taking various physical constraints into account.
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Disturbance Observer-Based Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robot Subject to Saturated Velocity Constraint
TL;DR: To alleviate the inherent chattering behavior of sliding mode technology and enhance the external disturbance adaptability, an adaptive scheme as a disturbance observer is adopted by which one could estimate the uncertain disturbance acting on the mobile wheels rapidly.
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Zero dynamics stabilisation and adaptive trajectory tracking for WIP vehicles through feedback linearisation and LQR technique
Ming Yue,Cong An,Jianzhong Sun +2 more
TL;DR: A composite control strategy integrating adaptive sliding-mode control and the linear quadratic regulator (LQR) technology for a wheeled inverted pendulum (WIP) vehicle system and results show the good performance and strong robustness of the proposed control schemes.
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