2017/10/30 by Karmvir Singh Phogat, Phogat, Karmvir Singh, Ravi N. Banavar +3
Computer Science · Engineering · #Control and Dynamics of Mobile Robots #Dynamical Systems (math.DS) #Dynamics and Control of Mechanical Systems #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Robotic Path Planning Algorithms #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1710.10932
openalex publication_date 2017/10/30 · openalex created_date 2022/10/05 · openalex updated_date 2026/07/28
The Wheeled Inverted Pendulum (WIP) is a nonholonomic, underactuated\nmechanical system, and has been popularized commercially as the it Segway.\nDesigning optimal control laws for point-to-point state-transfer for this\nautonomous mechanical system, while respecting momentum and torque constraints\nas well as the underlying manifold, continues to pose challenging problems. In\nthis article we present a successful effort in this direction: We employ\ngeometric mechanics to obtain a discrete-time model of the system, followed by\nthe synthesis of an energy-optimal control based on a discrete-time maximum\nprinciple applicable to mechanical systems whose configuration manifold is a\nLie group. Moreover, we incorporate state and momentum constraints into the\ndiscrete-time control directly at the synthesis stage. The control is\nimplemented on a WIP with parameters obtained from an existing prototype; the\nresults are highly encouraging, as demonstrated by numerical experiments.\n