Energy shaping nonlinear acceleration control for a mobile inverted pendulum with a slider mechanism utilizing instability

K. Yokoyama, Masaki Takahashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A nonlinear controller for accelerating a mobile inverted pendulum (MIP) with a slider mechanism is proposed. The controller shapes the total energy of the system and utilizes instability of the MIP for acceleration. The body angle and the displacement are controlled to keep states where the MIP is statically unstable, which leads to translational acceleration due to instability of the system. The total energy of the system is shaped to have the minimum at given desired states and the system is controlled to converge to them. The proposed controller can achieve various properties through the energy shaping procedure. Especially an energy function that will lead to safe operation of the MIP is proposed. The function ensures that motion of the MIP is restricted within predefined regions and converges to the desired states. The controller also returns the system back to the desired states with state-dependent gains that become large if the system comes close to fall over. Effectiveness of the proposed controller and utilization of instability for the MIP with the slider mechanism are verified through simulations.

Original languageEnglish
Title of host publicationInternational MultiConference of Engineers and Computer Scientists, IMECS 2012
PublisherNewswood Limited
Pages330-335
Number of pages6
Volume1
ISBN (Electronic)9789881925169
ISBN (Print)9789881925114
Publication statusPublished - 2012 Jan 1
Event2012 World Congress on Engineering and Computer Science, WCECS 2012 - San Francisco, United States
Duration: 2012 Oct 242012 Oct 26

Other

Other2012 World Congress on Engineering and Computer Science, WCECS 2012
CountryUnited States
CitySan Francisco
Period12/10/2412/10/26

Keywords

  • Energy shaping
  • Instability
  • Mobile inverted pendulum
  • Slider mechanism

ASJC Scopus subject areas

  • Computer Science (miscellaneous)

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