Study on control method using automatic differentiation with application to monowheel robot

This paper presents a computational method based on automatic differentiation using a given Lagrangian function to construct output regulation of the two-dimentional-model-based nonlinear control of a monowheel robot. Hence, we compare the results of both methods that are automatic differentiation and algebraic calculation. The results that are given in the simulations show that automatic differentiation application in nonlinear control design for the monowheel robot is successful.