2018
DOI: 10.48550/arxiv.1811.12819
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Structure-Preserving Constrained Optimal Trajectory Planning of a Wheeled Inverted Pendulum

Abstract: 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 probl… Show more

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References 27 publications
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