Nonlinear control of a swinging pendulum on a wheeled mobile robot with nonholonomic constraints
Robotics
2018-11-20 v1
Abstract
In this paper, we propose a nonlinear control strategy for swinging up a pendulum to its upright equilibrium position by shaping its swinging energy along with regulating the cart to a desired location. While the base of a usual cart-pole system is restricted to move in a straight line, the present system is allowed to move in the x-y plane with a nonholonomic consraint that its allowable velocity is only along its orientation. A simple time invariant control law has been presented and its effectiveness has been demonstrated using numerical experiments.
Keywords
Cite
@article{arxiv.1811.07323,
title = {Nonlinear control of a swinging pendulum on a wheeled mobile robot with nonholonomic constraints},
author = {Nikhil Potu Surya Prakash},
journal= {arXiv preprint arXiv:1811.07323},
year = {2018}
}
Comments
8 pages, 3 figures