Trajectory Design and Tracking Control for Nonlinear Underactuated Wheeled Inverted Pendulum
| Autor: | Xinghui Zhang, Yuanyuan Liu, Jinhua She, Ancai Zhang, Gong Shuli |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Article Subject Underactuation Computer science General Mathematics lcsh:Mathematics 020208 electrical & electronic engineering General Engineering 02 engineering and technology Optimal control lcsh:QA1-939 Inverted pendulum Mechanical system Nonlinear system 020901 industrial engineering & automation Control theory lcsh:TA1-2040 0202 electrical engineering electronic engineering information engineering Trajectory Configuration space Motion planning lcsh:Engineering (General). Civil engineering (General) |
| Zdroj: | Mathematical Problems in Engineering, Vol 2018 (2018) |
| ISSN: | 1563-5147 |
| Popis: | An underactuated wheeled inverted pendulum (UWIP) is a nonlinear mechanical system that has two degrees of freedom and has only one control input. The motion planning problem for this nonlinear system is difficult to solve because of the existence of an uncontrollable manifold in the configuration space. In this paper, we present a method of designing motion trajectory for this underactuated system. The design of trajectory is based on the dynamic properties of the UWIP system. Furthermore, the tracking control of the UWIP for the constructed trajectory is also studied. A tracking control law is designed by using quadratic optimal control theory. Numerical simulation results verify the effectiveness of the presented theoretical results. |
| Databáze: | OpenAIRE |
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