By Yaobin Chen and Lingxi Li (Auth.)
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Extra resources for Advances in Intelligent Vehicles
Karkoub, M. Parent, Modeling and non-linear feedback stabilization of a two-wheel vehicle, Journal of Systems and Control Engineering 218 (8) (2004) 675e686. W. Spong, The swing up control problem for the acrobat, IEEE Control Systems Magazine 15 (5) (1995) 49e55. J. Li, J. Luo, Adaptive robust dynamic valance and motion controls of mobile wheeled inverted pendulums, IEEE Transaction on Control System Technology 17 (1) (2009) 233e241.  S. S. Kim, Control experiment of a wheel-driven mobile inverted pendulum using neural network, IEEE Transactions on Control Systems Technology 16 (2) (2008) 297e303.
18. The acceleration of the cart changes in positive and negative values. However, the total acceleration acting on the driver is always positive. Therefore, the driver does not feel a vibration phenomenon during acceleration. 18: Acceleration of a Person on a Vehicle. 6 Conclusion A novel transportation system, the UW-Car, which is composed of an MWIP base and a movable seat, is proposed in this chapter. The dynamic model of a UW-Car system is obtained by applying Lagrange’s motion equations, for both the case of running on flat ground and on rough terrain.
J. Starr, M. Donath, Development and experimental evaluation of a tilt stability control system for narrow commuter vehicles, IEEE Transactions on Control System Technology 18 (6) (2010) 1266e1279.  A. Shimada, N. Hatakeyama, High speed movement control making use of zero dynamics on inverted pendulum, Journal of SICE 42 (9) (2006) 1035e1041.  A. Alasty, H. Pendar, Equations of motion of a single-wheel robot in a rough terrain, in: Proc. IEEE International Conference on Robotics and Automation, Barcelona, Spain, 2005, pp.