Swing-Up and Stability Control of Wheeled Acrobot (WAcrobot)
نویسندگان
چکیده
منابع مشابه
Swing-Up and Stability Control of Wheeled Acrobot (WAcrobot)
In this paper the Wheeled Acrobot (WAcrobot), a novel mechanical system consisting of an underactuated double inverted pendulum robot (Acrobot) equipped with actuated wheels, is described. This underactuated and highly nonlinear system has potential applications in mobile manipulators and leg-wheeled robots. It is also a testbed for researchers studying advanced methodologies in nonlinear contr...
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nderactuated mechanical systems are those possessing fewer U actuators than degrees of freedom. Examples of such systems abound, including flexible joint and flexible link robots, space robots, mobile robots, and robot models that include ac-tuator dynamics and rigid body dynamics together. Complex intemal dynamics, nonholonomic behavior, and lack of feedback linearizability are often exhibited...
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This paper addresses the energy-based swing-up control problem for the Acrobot, a two-link underactuated robot with a single actuator at the joint of the two links. In line with the energy-based control approach, this paper presents a necessary and sufficient condition for non-existence of any singular point in the derived control law, and provides a complete analysis of the convergence of the ...
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In this study, stability control of a three-wheeled vehicle with two wheels on the front axle, a three-wheeled vehicle with two wheels on the rear axle, and a standard four-wheeled vehicle are compared. For vehicle dynamics control systems, the direct yaw moment control is considered as a suitable way of controlling the lateral motion of a vehicle during a severe driving maneuver. In accorda...
متن کاملMINIMUM TIME SWING UP AND STABILIZATION OF ROTARY INVERTED PENDULUM USING PULSE STEP CONTROL
This paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. Our rotary inverted pendulum is supported bya pivot arm. The pivot arm rotates in a horizontal plane by means of a servomotor. The opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. A pendulum is suspended at thejoint. The task is to design a contro...
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ژورنال
عنوان ژورنال: Automatika
سال: 2014
ISSN: 0005-1144,1848-3380
DOI: 10.7305/automatika.2014.01.109