JOE: a mobile, inverted pendulum
Grasser, F.; Dapos;Arrigo, A.; Colombi, S.; Rufer, A.C.
Industrial Electronics, IEEE Transactions on
Volume 49, Issue 1, Feb 2002 Page(s):107 - 114
Digital Object Identifier   10.1109/41.982254
Summary:The Industrial Electronics Laboratory at the Swiss Federal Institute of Technology, Lausanne, Switzerland, has built a prototype of a revolutionary two-wheeled vehicle. Due to its configuration with two coaxial wheels, each of which is coupled to a DC motor, the vehicle is able to do stationary U-turns. A control system, made up of two decoupled state-space controllers, pilots the motors so as to keep the system in equilibrium

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