Dynamic Properties Analysis and Motion Planning for Underactuated Wheeled Acrobot
Dynamic Properties Analysis and Motion Planning for Underactuated Wheeled Acrobot
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DOI：
10.1109/isie.2018.8433799
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发表时间：
2018-06
期刊：
影响因子：
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通讯作者：
A. Zhang;Jinhua She;Jianlong Qiu;Chengdong Yang;Xinghui Zhang;Guochen Pang
中科院分区：
文献类型：
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作者：
A. Zhang;Jinhua She;Jianlong Qiu;Chengdong Yang;Xinghui Zhang;Guochen Pang
摘要：本文研究了欠驱动轮式Acrobot （WAcrobot）的性能分析和运动规划。首先，根据WAcrobot系统的结构特征构建输入关系，将系统转变为非线性级联系统。并对串级系统的动态特性进行了分析。然后，利用WAcrobot的属性和反向运动思想，设计了WAcrobot在整个运动空间中的运动轨迹。轨迹从系统的稳定平衡点开始，在系统的不稳定平衡点结束。跟踪轨迹可以实现WAcrobot的摆动和稳定控制目标。最后，通过数值算例验证了理论结果的有效性。
Ahstract- This paper concerns the properties analysis and motion planning for an underactuated wheeled Acrobot (WAcrobot). First, an input relationship is constructed based on the structural characteristics of the WAcrobot system, which changes the system into a nonlinear cascade system. And the dynamic properties of the cascade system are analyzed. After that, the properties and a reverse motion idea are used to design a motion trajectory for the WAcrobot in its whole motion space. The trajectory starts from a stable equilibrium point and ends at an unstable equilibrium point of the system. Tracking the trajectory enables the swing-up and stabilization control objective of the WAcrobot to be achieved. Finally, a numerical example demonstrates the effectiveness of our presented theoretical results.