TY - GEN
T1 - Motion planning for a hoop-pendulum type of underactuated systems
AU - Bai, Yang
AU - Svinin, Mikhail Mikhailovich
AU - Yamamoto, Motoji
PY - 2016/6/8
Y1 - 2016/6/8
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84977499897&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2016.7487436
DO - 10.1109/ICRA.2016.7487436
M3 - Conference contribution
AN - SCOPUS:84977499897
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2739
EP - 2744
BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Y2 - 16 May 2016 through 21 May 2016
ER -