@ARTICLE{Zaiczek_Tobias_Tracking_2014, author={Zaiczek, Tobias and Franke, Matthias}, volume={vol. 61}, number={No 2}, journal={Archive of Mechanical Engineering}, pages={331-346}, howpublished={online}, year={2014}, publisher={Polish Academy of Sciences, Committee on Machine Building}, abstract={This paper presents a control concept for a single-axle mobile robot moving on the horizontal plane. A mathematical model of the nonholonomic mechanical system is derived using Hamel’s equations of motion. Subsequently, a concept for a tracking controller is described in detail. This controller keeps the mobile robot on a given reference trajectory while maintaining it in an upright position. The control objective is reached by a cascade control structure. By an appropriate input transformation, we are able to utilize an input-output linearization of a subsystem. For the remaining dynamics a linear set-point control law is presented. Finally, the performance of the implemented control law is illustrated by simulation results.}, title={Tracking control of a balancing robot – a model-based approach}, URL={http://journals.pan.pl/Content/84890/PDF/08_paper.pdf}, doi={10.2478/meceng-2014-0019}, keywords={single-axle mobile robot, nonholonomic constraints, Hamel's equation, cascade control structure, input-output linearization, tracking control, nonlinear control}, }