Motion planning for a hoop-pendulum type of underactuated systems

Yang Bai, Mikhail Mikhailovich Svinin, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper deals with motion planning and control for an underactuated system, the hoop-pendulum, a pendulum mounted at the center of a hoop. The dynamic model for this system is derived and the local controllability around the equilibrium point is established. To transfer the system from a initial configuration to a desired final configuration in rest-to-rest mode, two controllers, the feedback and feedforward ones, are constructed. The feedback controller stabilizes the system at the origin and is based on the construction of a suitable Lyapunov function. The feedforward controller is based on the representation of the motion of the pendulum by the second derivative of Beta function. The feasibility and the performance of the proposed controllers are verified under simulations.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2739-2744
Number of pages6
ISBN (Electronic)9781467380263
DOIs
Publication statusPublished - Jun 8 2016
Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
Duration: May 16 2016May 21 2016

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2016-June
ISSN (Print)1050-4729

Other

Other2016 IEEE International Conference on Robotics and Automation, ICRA 2016
CountrySweden
CityStockholm
Period5/16/165/21/16

Fingerprint

Pendulums
Motion planning
Controllers
Feedback
Motion control
Lyapunov functions
Controllability
Dynamic models
Derivatives

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Bai, Y., Svinin, M. M., & Yamamoto, M. (2016). Motion planning for a hoop-pendulum type of underactuated systems. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 (pp. 2739-2744). [7487436] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2016-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2016.7487436

Motion planning for a hoop-pendulum type of underactuated systems. / Bai, Yang; Svinin, Mikhail Mikhailovich; Yamamoto, Motoji.

2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 2739-2744 7487436 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2016-June).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Bai, Y, Svinin, MM & Yamamoto, M 2016, Motion planning for a hoop-pendulum type of underactuated systems. in 2016 IEEE International Conference on Robotics and Automation, ICRA 2016., 7487436, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2016-June, Institute of Electrical and Electronics Engineers Inc., pp. 2739-2744, 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, Stockholm, Sweden, 5/16/16. https://doi.org/10.1109/ICRA.2016.7487436
Bai Y, Svinin MM, Yamamoto M. Motion planning for a hoop-pendulum type of underactuated systems. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 2739-2744. 7487436. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2016.7487436
Bai, Yang ; Svinin, Mikhail Mikhailovich ; Yamamoto, Motoji. / Motion planning for a hoop-pendulum type of underactuated systems. 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 2739-2744 (Proceedings - IEEE International Conference on Robotics and Automation).
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