Symmetries in the wheeled inverted pendulum mechanism

DOI10.1007/s11071-017-3670-3zbMath1390.70037arXiv1612.01814OpenAlexW2585209149MaRDI QIDQ1749863

Ravi N. Banavar, Sneha Gajbhiye, Sergio Delgado

Publication date: 17 May 2018

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/1612.01814

zbMATH Keywords

nonholonomic systemsroboticsLie group symmetry

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Constrained dynamics, Dirac's theory of constraints (70H45) Nonholonomic systems related to the dynamics of a system of particles (70F25) Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics (70H33)

Related Items

Energy shaping for position and speed control of a wheeled inverted pendulum in reduced space

Cites Work

• Unnamed Item
• Unnamed Item
• Unnamed Item
• Reduction of some classical non-holonomic systems with symmetry
• The Euler-Poincaré equations and semidirect products with applications to continuum theories
• The Lyapunov-Malkin theorem and stabilization of the unicycle with rider
• Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
• Nonholonomic mechanical systems with symmetry
• Reduction theory and the Lagrange–Routh equations
• The energy-momentum method for the stability of non-holonomic systems
• Simple Mechanical Control Systems with Constraints and Symmetry
• Quasivelocities and symmetries in non-holonomic systems