文章基本信息

标题：Structure-preserving discrete-time optimal maneuvers of a wheeled inverted pendulum
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作者：Karmvir Singh Phogat ; Ravi Banavar ; Debasish Chatterjee 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：3
页码：149-154
DOI：10.1016/j.ifacol.2018.06.042
语种：English
出版社：Elsevier
摘要：AbstractThe Wheeled Inverted Pendulum (WIP) is a nonholonomic, underactuated mechanical system, and has been popularized commercially as the Segway. Designing optimal control laws for point-to-point state-transfer for this autonomous mechanical system, while respecting momentum and torque constraints as well as the underlying manifold, continues to pose challenging problems. In this article we present a successful effort in this direction: We employ geometric mechanics to obtain a discrete-time model of the system, followed by the synthesis of an energy-optimal control based on a discrete-time maximum principle applicable to mechanical systems whose configuration manifold is a Lie group. Moreover, we incorporate state and momentum constraints into the discrete-time control directly at the synthesis stage. The control is implemented on a WIP with parameters obtained from an existing prototype; the results are highly encouraging, as demonstrated by numerical experiments.
关键词：KeywordsLie groupsnon-holonomic systemsdiscrete mechanics