Abstract
A dynamics-based non-linear controller with energy shaping to accelerate a pendulum-type mobility is proposed. The concept of this study is to control translational acceleration of the vehicle in a dynamically reasonable manner. The body angle is controlled to maintain a reference state where the vehicle is statically unstable but dynamically stable, which leads to a constant translational acceleration due to instability of the system. The accelerating motion is like a sprinter moving from crouch start and it fully exploits dynamics of the vehicle. To achieve it, the total energy of the system is shaped to have the minimum at a given reference state and the system is controlled to converge to it. The controller can achieve various properties through the energy shaping procedure. Especially, an energy function that will lead to safe operation of the vehicle is proposed. The effectiveness of the controller is verified in simulations and experiments.
| Original language | English |
|---|---|
| Pages (from-to) | 179-196 |
| Number of pages | 18 |
| Journal | Vehicle System Dynamics |
| Volume | 53 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 2015 Feb 1 |
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Keywords
- energy shaping
- instability
- inverted pendulum
- non-linear control
ASJC Scopus subject areas
- Automotive Engineering
- Mechanical Engineering
- Safety, Risk, Reliability and Quality
Cite this
Energy shaping non-linear acceleration control for a pendulum-type mobility and experimental verification. / Yokoyama, Kazuto; Takahashi, Masaki.
In: Vehicle System Dynamics, Vol. 53, No. 2, 01.02.2015, p. 179-196.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Energy shaping non-linear acceleration control for a pendulum-type mobility and experimental verification
AU - Yokoyama, Kazuto
AU - Takahashi, Masaki
PY - 2015/2/1
Y1 - 2015/2/1
N2 - A dynamics-based non-linear controller with energy shaping to accelerate a pendulum-type mobility is proposed. The concept of this study is to control translational acceleration of the vehicle in a dynamically reasonable manner. The body angle is controlled to maintain a reference state where the vehicle is statically unstable but dynamically stable, which leads to a constant translational acceleration due to instability of the system. The accelerating motion is like a sprinter moving from crouch start and it fully exploits dynamics of the vehicle. To achieve it, the total energy of the system is shaped to have the minimum at a given reference state and the system is controlled to converge to it. The controller can achieve various properties through the energy shaping procedure. Especially, an energy function that will lead to safe operation of the vehicle is proposed. The effectiveness of the controller is verified in simulations and experiments.
AB - A dynamics-based non-linear controller with energy shaping to accelerate a pendulum-type mobility is proposed. The concept of this study is to control translational acceleration of the vehicle in a dynamically reasonable manner. The body angle is controlled to maintain a reference state where the vehicle is statically unstable but dynamically stable, which leads to a constant translational acceleration due to instability of the system. The accelerating motion is like a sprinter moving from crouch start and it fully exploits dynamics of the vehicle. To achieve it, the total energy of the system is shaped to have the minimum at a given reference state and the system is controlled to converge to it. The controller can achieve various properties through the energy shaping procedure. Especially, an energy function that will lead to safe operation of the vehicle is proposed. The effectiveness of the controller is verified in simulations and experiments.
KW - energy shaping
KW - instability
KW - inverted pendulum
KW - non-linear control
UR - http://www.scopus.com/inward/record.url?scp=84923408934&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84923408934&partnerID=8YFLogxK
U2 - 10.1080/00423114.2014.993325
DO - 10.1080/00423114.2014.993325
M3 - Article
AN - SCOPUS:84923408934
VL - 53
SP - 179
EP - 196
JO - Vehicle System Dynamics
JF - Vehicle System Dynamics
SN - 0042-3114
IS - 2
ER -