Trajectory Design and Tracking Control for Nonlinear Underactuated Wheeled Inverted Pendulum

Trajectory Design and Tracking Control for Nonlinear Underactuated Wheeled Inverted Pendulum

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 s...

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Main Authors: Shuli Gong, Ancai Zhang, Jinhua She, Xinghui Zhang, Yuanyuan Liu
Format: Article
Language:English
Published: Hindawi Limited 2018-01-01
Series:Mathematical Problems in Engineering
Online Access:http://dx.doi.org/10.1155/2018/6134764
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spelling doaj-010db98d9220496c879ed63aa4fe09d22020-11-25T00:09:53ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472018-01-01201810.1155/2018/61347646134764Trajectory Design and Tracking Control for Nonlinear Underactuated Wheeled Inverted PendulumShuli Gong0Ancai Zhang1Jinhua She2Xinghui Zhang3Yuanyuan Liu4School of Mathematics and Statistics, Linyi University, Linyi, Shandong 276005, ChinaSchool of Automation and Electrical Engineering, Linyi University, Linyi, Shandong 276005, ChinaSchool of Engineering, Tokyo University of Technology, Hachioji, Tokyo 192-0982, JapanSchool of Automation and Electrical Engineering, Linyi University, Linyi, Shandong 276005, ChinaSchool of Mathematics and Statistics, Linyi University, Linyi, Shandong 276005, ChinaAn 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.http://dx.doi.org/10.1155/2018/6134764
collection DOAJ
language English
format Article
sources DOAJ
author Shuli Gong
Ancai Zhang
Jinhua She
Xinghui Zhang
Yuanyuan Liu
spellingShingle Shuli Gong
Ancai Zhang
Jinhua She
Xinghui Zhang
Yuanyuan Liu
Trajectory Design and Tracking Control for Nonlinear Underactuated Wheeled Inverted Pendulum
Mathematical Problems in Engineering
author_facet Shuli Gong
Ancai Zhang
Jinhua She
Xinghui Zhang
Yuanyuan Liu
author_sort Shuli Gong
title Trajectory Design and Tracking Control for Nonlinear Underactuated Wheeled Inverted Pendulum
title_short Trajectory Design and Tracking Control for Nonlinear Underactuated Wheeled Inverted Pendulum
title_full Trajectory Design and Tracking Control for Nonlinear Underactuated Wheeled Inverted Pendulum
title_fullStr Trajectory Design and Tracking Control for Nonlinear Underactuated Wheeled Inverted Pendulum
title_full_unstemmed Trajectory Design and Tracking Control for Nonlinear Underactuated Wheeled Inverted Pendulum
title_sort trajectory design and tracking control for nonlinear underactuated wheeled inverted pendulum
publisher Hindawi Limited
series Mathematical Problems in Engineering
issn 1024-123X
1563-5147
publishDate 2018-01-01
description 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.
url http://dx.doi.org/10.1155/2018/6134764
work_keys_str_mv AT shuligong trajectorydesignandtrackingcontrolfornonlinearunderactuatedwheeledinvertedpendulum
AT ancaizhang trajectorydesignandtrackingcontrolfornonlinearunderactuatedwheeledinvertedpendulum
AT jinhuashe trajectorydesignandtrackingcontrolfornonlinearunderactuatedwheeledinvertedpendulum
AT xinghuizhang trajectorydesignandtrackingcontrolfornonlinearunderactuatedwheeledinvertedpendulum
AT yuanyuanliu trajectorydesignandtrackingcontrolfornonlinearunderactuatedwheeledinvertedpendulum
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