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Author

Jong-Seok Oh

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Open access 2026

Nonsingular BLF-Based Simultaneous Tracking and Balancing Control of Uncertain Ball-Balancing Robots With Moving Obstacles: A Virtual-Angle Approach

This paper proposes a nonsingular virtual-angle control method for uncertain underactuated ball-balancing robots (BBRs) subject to trajectory tracking, posture stabilization, and obstacle avoidance requirements. Because tracking and balancing are strongly coupled in BBR systems, conventional hierarchical sliding mode c...

Hyo-Geon Jang, Jong-Seok Oh, B. Park · 0 citations

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