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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| Veröffentlicht in: | Mathematical problems in engineering 2018-01, Vol.2018 (2018), p.1-10 |
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| container_title | Mathematical problems in engineering |
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| creator | Zhang, Xinghui She, Jinhua Zhang, Ancai Gong, Shuli Liu, Yuanyuan |
| 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. |
| doi_str_mv | 10.1155/2018/6134764 |
| format | Article |
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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.</description><identifier>ISSN: 1024-123X</identifier><identifier>EISSN: 1563-5147</identifier><identifier>DOI: 10.1155/2018/6134764</identifier><language>eng</language><publisher>Cairo, Egypt: Hindawi Publishing Corporation</publisher><subject>Aircraft ; Computer simulation ; Control theory ; Cybernetics ; Engineering ; Equilibrium ; Motion planning ; Nonlinear control ; Nonlinear systems ; Optimal control ; Tracking control ; Trajectory control</subject><ispartof>Mathematical problems in engineering, 2018-01, Vol.2018 (2018), p.1-10</ispartof><rights>Copyright © 2018 Shuli Gong et al.</rights><rights>Copyright © 2018 Shuli Gong et al. This is an open access article distributed under the Creative Commons Attribution License (the “License”), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. https://creativecommons.org/licenses/by/4.0</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c426t-e8029ebbd006ea13eb1f5f0d4270cc967bff00b5e3df821f1e159b6c534638793</citedby><cites>FETCH-LOGICAL-c426t-e8029ebbd006ea13eb1f5f0d4270cc967bff00b5e3df821f1e159b6c534638793</cites><orcidid>0000-0003-3165-5045 ; 0000-0003-0652-9979 ; 0000-0003-3961-8580 ; 0000-0001-7573-6264</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>314,776,780,27901,27902</link.rule.ids></links><search><contributor>Park, Ju H.</contributor><contributor>Ju H Park</contributor><creatorcontrib>Zhang, Xinghui</creatorcontrib><creatorcontrib>She, Jinhua</creatorcontrib><creatorcontrib>Zhang, Ancai</creatorcontrib><creatorcontrib>Gong, Shuli</creatorcontrib><creatorcontrib>Liu, Yuanyuan</creatorcontrib><title>Trajectory Design and Tracking Control for Nonlinear Underactuated Wheeled Inverted Pendulum</title><title>Mathematical problems in engineering</title><description>An underactuated wheeled inverted pendulum (UWIP) is a nonlinear mechanical system that has two degrees of freedom and has only one control input. 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Numerical simulation results verify the effectiveness of the presented theoretical results.</description><subject>Aircraft</subject><subject>Computer simulation</subject><subject>Control theory</subject><subject>Cybernetics</subject><subject>Engineering</subject><subject>Equilibrium</subject><subject>Motion planning</subject><subject>Nonlinear control</subject><subject>Nonlinear systems</subject><subject>Optimal control</subject><subject>Tracking control</subject><subject>Trajectory control</subject><issn>1024-123X</issn><issn>1563-5147</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2018</creationdate><recordtype>article</recordtype><sourceid>RHX</sourceid><sourceid>BENPR</sourceid><recordid>eNqF0M9LwzAUB_AgCs7pzbMUPGpdXtKk6VHmr8FQDxt6EEravmydXTLTVtl_b0cHHj19H48P78GXkHOgNwBCjBgFNZLAo1hGB2QAQvJQQBQfdjNlUQiMvx-Tk7peUcpAgBqQj5nXK8wb57fBHdblwgbaFkG3zT9LuwjGzjbeVYFxPnh2tiotah_MbYGdaFrdYBG8LRGrLif2G_1u8Yq2aKt2fUqOjK5qPNvnkMwf7mfjp3D68jgZ307DPGKyCVFRlmCWFZRK1MAxAyMMLSIW0zxPZJwZQ2kmkBdGMTCAIJJM5oJHkqs44UNy2d_dePfVYt2kK9d6271MGYBUVKlIdOq6V7l3de3RpBtfrrXfpkDTXX_prr9031_Hr3q-LG2hf8r_9EWvsTNo9J9mVDEm-S90ZnnO</recordid><startdate>20180101</startdate><enddate>20180101</enddate><creator>Zhang, Xinghui</creator><creator>She, Jinhua</creator><creator>Zhang, Ancai</creator><creator>Gong, Shuli</creator><creator>Liu, Yuanyuan</creator><general>Hindawi Publishing Corporation</general><general>Hindawi</general><general>Hindawi Limited</general><scope>ADJCN</scope><scope>AHFXO</scope><scope>RHU</scope><scope>RHW</scope><scope>RHX</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7TB</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>CWDGH</scope><scope>DWQXO</scope><scope>FR3</scope><scope>GNUQQ</scope><scope>HCIFZ</scope><scope>JQ2</scope><scope>K7-</scope><scope>KR7</scope><scope>L6V</scope><scope>M7S</scope><scope>P5Z</scope><scope>P62</scope><scope>PIMPY</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope><orcidid>https://orcid.org/0000-0003-3165-5045</orcidid><orcidid>https://orcid.org/0000-0003-0652-9979</orcidid><orcidid>https://orcid.org/0000-0003-3961-8580</orcidid><orcidid>https://orcid.org/0000-0001-7573-6264</orcidid></search><sort><creationdate>20180101</creationdate><title>Trajectory Design and Tracking Control for Nonlinear Underactuated Wheeled Inverted Pendulum</title><author>Zhang, Xinghui ; 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| subjects | Aircraft Computer simulation Control theory Cybernetics Engineering Equilibrium Motion planning Nonlinear control Nonlinear systems Optimal control Tracking control Trajectory control |
| title | Trajectory Design and Tracking Control for Nonlinear Underactuated Wheeled Inverted Pendulum |
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