Motion planning for a hoop-pendulum type of underactuated systems

Yang Bai, Mikhail Mikhailovich Svinin, Motoji Yamamoto

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

6 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2016 IEEE International Conference on Robotics and Automation, ICRA 2016
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2739-2744
ページ数6
ISBN(電子版)9781467380263
DOI
出版ステータス出版済み - 6 8 2016
イベント2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, スウェーデン
継続期間: 5 16 20165 21 2016

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2016-June
ISSN(印刷版)1050-4729

その他

その他2016 IEEE International Conference on Robotics and Automation, ICRA 2016
国/地域スウェーデン
CityStockholm
Period5/16/165/21/16

All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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