I don't understand how to link the higher level controller of a WIP

2 views (last 30 days)
Valeria Leto
Valeria Leto on 23 Aug 2021
Hi! I am trying to simulate a wheeled inverted pendulum with a partial feedback linearization law. I would like to control its velocity with alpha and theta. The problem is that there is a lower and a higher level controller and I don't understand how to link them. I did this scheme and it works if I set a constant alpha_ref, but I have to change it because I have this control law for the alpha_ref dynamics: with vd the desired velocity. Any ideas of what I should do? I attached the article I am following If someone would like to read it. Maybe it's not the right place to publish this post, sorry for that.

Answers (0)

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by