Structure-Preserving Constrained Optimal Trajectory Planning of a Wheeled Inverted Pendulum
| Autor: | Ravi N. Banavar, Boris Lohmann, Felix Anhalt, Karmvir Singh Phogat, Klaus Albert, Debasish Chatterjee |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
Nonholonomic system
FOS: Computer and information sciences 0209 industrial biotechnology Underactuation Computer science Feed forward 02 engineering and technology Systems and Control (eess.SY) Optimal control Electrical Engineering and Systems Science - Systems and Control Computer Science Applications Inverted pendulum Computer Science::Robotics Nonlinear system Computer Science - Robotics 020901 industrial engineering & automation Control and Systems Engineering Control theory Robustness (computer science) FOS: Electrical engineering electronic engineering information engineering Motion planning Electrical and Electronic Engineering Robotics (cs.RO) |
| Popis: | The Wheeled Inverted Pendulum (WIP) is an underactuated, nonholonomic mechatronic system, and has been popularized commercially as the Segway. Designing a control law for motion planning, that incorporates the state and control constraints, while respecting the configuration manifold, is a challenging problem. In this article we derive a discrete-time model of the WIP system using discrete mechanics and generate optimal trajectories for the WIP system by solving a discrete-time constrained optimal control problem. Further, we describe a nonlinear continuous-time model with parameters for designing a closed loop LQ-controller. A dual control architecture is implemented in which the designed optimal trajectory is then provided as a reference to the robot with the optimal control trajectory as a feedforward control action, and an LQ-controller in the feedback mode is employed to mitigate noise and disturbances for ensuing stable motion of the WIP system. While performing experiments on the WIP system involving aggressive maneuvers with fairly sharp turns, we found a high degree of congruence in the designed optimal trajectories and the path traced by the robot while tracking these trajectories. This corroborates the validity of the nonlinear model and the control scheme. Finally, these experiments demonstrate the highly nonlinear nature of the WIP system and robustness of the control scheme. 12 pages, 8 figures, 1 table. arXiv admin note: text overlap with arXiv:1710.10932 |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|