Energy shaping for position and speed control of a wheeled inverted pendulum in reduced space

Delgado, Sergio; Kotyczka, Paul

doi:10.1016/j.automatica.2016.07.045

Cited by 17 publications

(2 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…, q n ] T ∈ R n is the position vector,q ∈ R n is the velocity vector, M(q) = M T (q) > 0 ∈ R n×m is the inertia matrix, C(q,q) is the coriolis and centripental forces vector, B(q) ∈ R n is the potential forces vector, G(q) ∈ R n×m is the input coupling matrix and u ∈ R m is the applied torque vector. In fact, there exist a variety of systems with the structure of Equation (3) such as quadrotor (Zheng, Zhu, Zuo, & Yan, 2015), wheeled inverted pendulum (Delgado & Kotyczka, 2016) and many other mechanical systems.…”

Section: Problem Statementmentioning

confidence: 99%

Energy-based Hamiltonian approach in H_∞ controller design for n-degree of freedom mechanical systems

Karimi

Binazadeh

2019

Systems Science & Control Engineering

View full text Add to dashboard Cite

This paper studies the energy-based approach for H ∞ controller design of n-degree of freedom mechanical systems. In this approach, the Hamiltonian function, which is the sum of kinetic and potential energies of the system, is considered as the Lyapunov function for stability analysis. The stability analysis is done based on the port-controlled Hamiltonian (PCH) model. In this regard, two theorems are given and proved that the proposed controllers lead to H ∞ disturbance attenuation for both absolutely known system model and unknown ones with parametric uncertainties. In the case of parametric uncertainties, the energy-based controller has an adaptive approach. Performance of proposed controllers is illustrated through simulations taken on a 2-link robot manipulator system, which validate the theoretical achievements of this paper.

show abstract

Section: Problem Statementmentioning

confidence: 99%

Energy-based Hamiltonian approach in H_∞ controller design for n-degree of freedom mechanical systems

Karimi

Binazadeh

2019

Systems Science & Control Engineering

View full text Add to dashboard Cite

show abstract

“…A controllability analysis for the WIP kinematics is presented in [17] and filtering techniques to prevent the WIP leading to limit cycle while stabilizing are discussed in [18]. Recently, a nonlinear position and velocity stabilization controller using energy shaping technique has been proposed in [19], and modeling of the WIP as a linear system with time delays and its stabilization using an integral slide mode control may be found in [20]. A fairly detailed overview of the WIP modeling with various stabilization and tracking control techniques may be found in [7].…”

Section: Introductionmentioning

confidence: 99%

Structure-Preserving Constrained Optimal Trajectory Planning of a Wheeled Inverted Pendulum

Albert¹,

Phogat²,

Anhalt³

et al. 2018

Preprint

View full text Add to dashboard Cite

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 discretetime 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.

show abstract

Motion control of a two-wheeled inverted pendulum with uncertain rolling resistance and angle constraint based on slow-fast dynamics

2021

View full text Add to dashboard Cite

Energy shaping for position and speed control of a wheeled inverted pendulum in reduced space

Cited by 17 publications

References 16 publications

Energy-based Hamiltonian approach in H_∞ controller design for n-degree of freedom mechanical systems

Energy-based Hamiltonian approach in H_∞ controller design for n-degree of freedom mechanical systems

Structure-Preserving Constrained Optimal Trajectory Planning of a Wheeled Inverted Pendulum

Motion control of a two-wheeled inverted pendulum with uncertain rolling resistance and angle constraint based on slow-fast dynamics

Contact Info

Product

Resources

About

Energy shaping for position and speed control of a wheeled inverted pendulum in reduced space

Cited by 17 publications

References 16 publications

Energy-based Hamiltonian approach in H∞ controller design for n-degree of freedom mechanical systems

Energy-based Hamiltonian approach in H∞ controller design for n-degree of freedom mechanical systems

Structure-Preserving Constrained Optimal Trajectory Planning of a Wheeled Inverted Pendulum

Motion control of a two-wheeled inverted pendulum with uncertain rolling resistance and angle constraint based on slow-fast dynamics

Contact Info

Product

Resources

About

Energy-based Hamiltonian approach in H_∞ controller design for n-degree of freedom mechanical systems

Energy-based Hamiltonian approach in H_∞ controller design for n-degree of freedom mechanical systems