Trajectory Design and Tracking Control for Nonlinear Underactuated Wheeled Inverted Pendulum
Joint Authors
She, Jinhua
Gong, Shuli
Zhang, Xinghui
Liu, Yuanyuan
Zhang, Ancai
Source
Mathematical Problems in Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-09-24
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Gong, Shuli& Zhang, Ancai& She, Jinhua& Zhang, Xinghui& Liu, Yuanyuan. 2018. Trajectory Design and Tracking Control for Nonlinear Underactuated Wheeled Inverted Pendulum. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1208226
Modern Language Association (MLA)
Gong, Shuli…[et al.]. Trajectory Design and Tracking Control for Nonlinear Underactuated Wheeled Inverted Pendulum. Mathematical Problems in Engineering No. 2018 (2018), pp.1-10.
https://search.emarefa.net/detail/BIM-1208226
American Medical Association (AMA)
Gong, Shuli& Zhang, Ancai& She, Jinhua& Zhang, Xinghui& Liu, Yuanyuan. Trajectory Design and Tracking Control for Nonlinear Underactuated Wheeled Inverted Pendulum. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1208226
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1208226