@inproceedings{de2e47aa714e467bb73783361d00007c,
title = "Energy shaping nonlinear acceleration control for a mobile inverted pendulum with a slider mechanism utilizing instability",
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.",
keywords = "Energy shaping, Instability, Mobile inverted pendulum, Slider mechanism",
author = "K. Yokoyama and M. Takahashi",
note = "Funding Information: Manuscript received July 3, 2012; revised August 7, 2012. This work was supported in part by Japan Society for the Promotion of Science. Publisher Copyright: {\textcopyright} 2012 Newswood Limited. All rights reserved.; 2012 World Congress on Engineering and Computer Science, WCECS 2012 ; Conference date: 24-10-2012 Through 26-10-2012",
year = "2012",
language = "English",
isbn = "9789881925114",
series = "Lecture Notes in Engineering and Computer Science",
publisher = "Newswood Limited",
pages = "330--335",
editor = "Jon Burgstone and Ao, {S. I.} and Craig Douglas and Grundfest, {W. S.}",
booktitle = "International MultiConference of Engineers and Computer Scientists, IMECS 2012",
}