Trajectory design and tracking control for nonlinear underactuated wheeled inverted pendulum
type: Item
instance of: scholarly article
title: Trajectory design and tracking control for nonlinear underactuated wheeled inverted pendulum
zbMATH Open document ID: 1427.93162
DOI: 10.1155/2018/6134764
author: Xianqiang Yang
published in: Mathematical Problems in Engineering
publication date: 2019-02-08T00:00:00Z
review text: Summary: An underactuated wheeled inverted pendulum (UWIP) is a nonlinear mechanical system that has two degrees of freedom and has only one control input. The motion planning problem for this nonlinear system is difficult to solve because of the existence of an uncontrollable manifold in the configuration space. In this paper, we present a method of designing motion trajectory for this underactuated system. The design of trajectory is based on the dynamic properties of the UWIP system. Furthermore, the tracking control of the UWIP for the constructed trajectory is also studied. A tracking control law is designed by using quadratic optimal control theory. Numerical simulation results verify the effectiveness of the presented theoretical results.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 70Q05
zbMATH DE Number: 7019244
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2018/6134764
OpenAlex ID: W2890215277
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description: scientific article; zbMATH DE number 7019244