Original scientific paper

https://doi.org/10.7305/automatika.2014.01.109

Swing-Up and Stability Control of Wheeled Acrobot (WAcrobot)

Mohsen Moradi Dalvand ; Centre for Intelligent Systems Research (CISR), Deakin University, Victoria 3216, Australia
Bijan Shirinzadeh ; Department of Mechanical and Aerospace Engineering, Monash University, Victoria 3800, Australia
Saeid Nahavandi ; Centre for Intelligent Systems Research (CISR), Deakin University, Victoria 3216, Australia

Abstract

In this paper the Wheeled Acrobot (WAcrobot), a novel mechanical system consisting of an underactuated double inverted pendulum robot (Acrobot) equipped with actuated wheels, is described. This underactuated and highly nonlinear system has potential applications in mobile manipulators and leg-wheeled robots. It is also a testbed for researchers studying advanced methodologies in nonlinear control. The control system for swing-up of the WAcrobot based on collocated or non-collocated feedback linearisation to linearise the active or passive Degree Of Freedom (DOF) followed by Linear Quadratic Regulator (LQR) to stabilise the robot is discussed. The effectiveness of the proposed scheme is validated with numerical simulation. The numerical results are visualised by graphical simulation to demonstrate the correlation between the numerical results and the WAcrobot physical response.

Keywords

Double Inverted Pendulum; Wheeled Robot; Underactuated Robot; Partial Feedback Linearisation; Linear Quadratic Regulator (LQR); Stabilisation

Hrčak ID:

118929

URI

https://hrcak.srce.hr/118929

Publication date:

27.2.2014.

Article data in other languages: croatian

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