C308 Energy Shaping Nonlinear Acceleration Control for a Mobile Inverted Pendulum Utilizing Instability
Authors
Kazuto YOKOYAMA, Masaki TAKAHASHI
Abstract
A nonlinear controller for accelerating a mobile inverted pendulum (MIP) with interconnection and damping assignment passivity-based control (IDA-PBC) is proposed. For underactuated systems, partial differential equations (PDEs) must be solved to derive the IDA-PBC it difficult task in general. However, this study shows that MIP can properly described as full actuated port-Hamiltonian system focusing only on dynamics. The derived without solving PDEs. Although our part of system, translational acceleration indirectly controlled utilizing relation between inclination arising from instability system. realize various properties through energy shaping procedure IDA-PBC. Especially an function which will lead safe operation proposed study. ensures motion restricted predefined region converges desired angle. also gets back angle large state-dependent gain when comes close fall over. Effectiveness verified simulations.
Citation
- Journal: The Proceedings of the Symposium on the Motion and Vibration Control
- Year: 2011
- Volume: 2011.12
- Issue: 0
- Pages: 594–599
- Publisher: Japan Society of Mechanical Engineers
- DOI: 10.1299/jsmemovic.2011.12.594
BibTeX
@article{YOKOYAMA_2011,
title={{C308 Energy Shaping Nonlinear Acceleration Control for a Mobile Inverted Pendulum Utilizing Instability}},
volume={2011.12},
ISSN={2424-3000},
DOI={10.1299/jsmemovic.2011.12.594},
number={0},
journal={The Proceedings of the Symposium on the Motion and Vibration Control},
publisher={Japan Society of Mechanical Engineers},
author={YOKOYAMA, Kazuto and TAKAHASHI, Masaki},
year={2011},
pages={594--599}
}