TY - JOUR N2 - 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. L1 - http://www.czasopisma.pan.pl/Content/84890/PDF/08_paper.pdf L2 - http://www.czasopisma.pan.pl/Content/84890 PY - 2014 IS - No 2 EP - 346 DO - 10.2478/meceng-2014-0019 KW - single-axle mobile robot KW - nonholonomic constraints KW - Hamel's equation KW - cascade control structure KW - input-output linearization KW - tracking control KW - nonlinear control A1 - Zaiczek, Tobias A1 - Franke, Matthias PB - Polish Academy of Sciences, Committee on Machine Building VL - vol. 61 DA - 2014 T1 - Tracking control of a balancing robot – a model-based approach SP - 331 UR - http://www.czasopisma.pan.pl/dlibra/publication/edition/84890 T2 - Archive of Mechanical Engineering ER -