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

K. Yokoyama, M. Takahashi

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルInternational MultiConference of Engineers and Computer Scientists, IMECS 2012
編集者Jon Burgstone, S. I. Ao, Craig Douglas, W. S. Grundfest
出版社Newswood Limited
ページ330-335
ページ数6
ISBN(電子版)9789881925169
ISBN(印刷版)9789881925114
出版ステータスPublished - 2012
イベント2012 World Congress on Engineering and Computer Science, WCECS 2012 - San Francisco, United States
継続期間: 2012 10 242012 10 26

出版物シリーズ

名前Lecture Notes in Engineering and Computer Science
1
ISSN(印刷版)2078-0958

Other

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

ASJC Scopus subject areas

  • コンピュータ サイエンス(その他)

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