A Constructive Self-balancing Controlled Lagrangian for Wheeled Inverted   Pendulum

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	A Constructive Self-balancing Controlled Lagrangian for Wheeled Inverted Pendulum
	Tayefi, Morteza ; Geng, Zhiyong
	2016
关键词	Nonlinear control Energy shaping Underactuated Metric decomposition and modification MECHANICAL SYSTEMS STABILIZATION VELOCITY
英文摘要	This work presents a controlled Lagrangian for the wheeled inverted pendulum system in which the upward position of the pendulum becomes a stable nonlinear equilibrium. Unlike the general form of underactuated systems, the configuration variables are not partitioned into actuation and underactuated subsets and instead we show that the energy shaping and matching conditions can be achieved in a constructive procedure. The asymptotic stability is guaranteed by the definiteness of the shaped energy and applying a suitable dissipation. We also apply this self-balancing control to the system which is partially linearized and controlled in the wheel position. The efficiency of the control law along with the wheel positioning is observed by simulation.; CPCI-S(ISTP); zygeng@pku.edu.cn; 1776-1781
会议录	28th Chinese Control and Decision Conference
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/460194]
专题	工学院
推荐引用方式 GB/T 7714	Tayefi, Morteza,Geng, Zhiyong. A Constructive Self-balancing Controlled Lagrangian for Wheeled Inverted Pendulum[C]. 见:.