@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://ochroma.man.poznan.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},
}