Abstract: Wheeled Inverted Pendulum (WIP) systems offer agile mobility but are challenging to control due to their unstable and underactuated dynamics. To address these limitations, we develop a ...

Abstract: An adaptive actuator failure and disturbance compensation scheme is developed for attitude tracking control of spacecraft. The proposed scheme consists of a composite parameter adaptation ...

This project consists of 2 different parts: In the first part, I've created the car system in the 1st picture using Simulink/Simscape. I declared the parameters of the wheels with the Magic Formula ...