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Titel:

Energy Shaping for the Robust Stabilization of a Wheeled Inverted Pendulum

Dokumenttyp:
Konferenzbeitrag
Art des Konferenzbeitrags:
Textbeitrag / Aufsatz
Autor(en):
Delgado, S.; Kotyczka, P.
Seitenangaben Beitrag:
pp. 93-98
Abstract:
The paper deals with the robust energy-based stabilization of a wheeled inverted pendulum, which is an underactuated, unstable mechanical system subject to nonholonomic constraints. The equilibrium to be stabilized is characterized by the length of the driven path, the orientation, and the pitch angle. We use the method of Controlled Lagrangians which is applied in a systematic way, and is very intuitive, for it is physically motivated. After a detailed presentation of the model under nonholonom...     »
Stichworte:
Underactuated mechanical systems; nonholonomic systems; passivity-based control
Kongress- / Buchtitel:
5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control
Kongress / Zusatzinformationen:
IFAC-PapersOnLine
Band / Teilband / Volume:
Vol. 48
Ausgabe:
Issue 13
Ausrichter der Konferenz:
IFAC
Datum der Konferenz:
04.-07.07.2015
Publikationsdatum:
10.11.2015
Jahr:
2015
Quartal:
3. Quartal
Jahr / Monat:
2015-07
Monat:
Jul
Nachgewiesen in:
Scopus
Reviewed:
ja
Sprache:
en
Volltext / DOI:
doi:10.1016/j.ifacol.2015.10.220
Semester:
SS 15
TUM Einrichtung:
Lehrstuhl für Regelungstechnik
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