Impulsive Dynamics and Control of the Inertia-Wheel Pendulum
Impulsive Dynamics and Control of the Inertia-Wheel Pendulum
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DOI：
10.1109/lra.2018.2851029
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发表时间：
2018-06
影响因子：
5.2
通讯作者：
N. Kant;R. Mukherjee
中科院分区：
文献类型：
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作者：
N. Kant;R. Mukherjee
当受到脉冲输入时，惯性轮摆的动力学可以通过代数方程来描述。这些输入的最佳序列可以最小化其无穷范数，是为休息到休息的操作而设计的。结果应用于经过充分研究的摆动问题，并且高增益反馈用于输入的连续逼近和脉冲动力学的模拟。分析和仿真结果在摆动过程中的高车轮速度与将摆直接带到直立配置的控制策略之间建立了直接联系。他们还表明，最佳轨迹类似于基于能量的控制器，并且可以设计为满足执行器的扭矩约束。
The dynamics of the inertia-wheel pendulum, when subjected to impulsive inputs, can be described by algebraic equations. Optimal sequences of these inputs, that minimize their infinity norm, are designed for rest-to-rest maneuvers. The results are applied to the well-studied swing-up problem, and high-gain feedback is used for continuous approximation of the inputs and simulation of the impulsive dynamics. Analytical and simulation results establish a direct link between high wheel velocities during swing-up and control strategies that take the pendulum directly to the upright configuration. They also indicate that optimal trajectories resemble those of energy-based controllers and can be designed to satisfy the torque constraint of the actuator.