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 language | English |
|---|---|
| Title of host publication | International MultiConference of Engineers and Computer Scientists, IMECS 2012 |
| Publisher | Newswood Limited |
| Pages | 330-335 |
| Number of pages | 6 |
| Volume | 1 |
| ISBN (Electronic) | 9789881925169 |
| ISBN (Print) | 9789881925114 |
| Publication status | Published - 2012 Jan 1 |
| Event | 2012 World Congress on Engineering and Computer Science, WCECS 2012 - San Francisco, United States Duration: 2012 Oct 24 → 2012 Oct 26 |
Other
| Other | 2012 World Congress on Engineering and Computer Science, WCECS 2012 |
|---|---|
| Country | United States |
| City | San Francisco |
| Period | 12/10/24 → 12/10/26 |
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Keywords
- Energy shaping
- Instability
- Mobile inverted pendulum
- Slider mechanism
ASJC Scopus subject areas
- Computer Science (miscellaneous)
Cite this
Energy shaping nonlinear acceleration control for a mobile inverted pendulum with a slider mechanism utilizing instability. / Yokoyama, K.; Takahashi, Masaki.
International MultiConference of Engineers and Computer Scientists, IMECS 2012. Vol. 1 Newswood Limited, 2012. p. 330-335.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Energy shaping nonlinear acceleration control for a mobile inverted pendulum with a slider mechanism utilizing instability
AU - Yokoyama, K.
AU - Takahashi, Masaki
PY - 2012/1/1
Y1 - 2012/1/1
N2 - 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.
AB - 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.
KW - Energy shaping
KW - Instability
KW - Mobile inverted pendulum
KW - Slider mechanism
UR - http://www.scopus.com/inward/record.url?scp=85049918434&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85049918434&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:85049918434
SN - 9789881925114
VL - 1
SP - 330
EP - 335
BT - International MultiConference of Engineers and Computer Scientists, IMECS 2012
PB - Newswood Limited
ER -