A robotic system constructed as a wheeled inverted pendulum (WIP) serves as an impressive demonstrator, since this kind of system is inherently non-linear, unstable and non-minimum-phase. But the same properties which make it impressive also introduce serveral difficulties, when it comes to control and trajectory planning. Therefore this paper shows a method for deriving a highly dynamic trajectory compliant with the system dynamics. The constraints inherent to the definition of this trajectory are non-convex. The constraint functions have a local minimum in an infeasible region. This poses a problem when the initial guess is within this infeasible reagion. For a WIP this happens when it has to pass (in limbo) underneath an obstacle. To overcome this, a multistage approach is proposed for the optimal control problem to evade this infeasible local minimum. After solving 4 stages of related optimization problems the optimal trajectory is obtained. Additionally the center of gravity of the examined WIP can be influenced slightly by the mounting point of the battery pack. By incorporating this into the optimization problem, a task dependent optimal system configuration can be found.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Multistage Approach for Solving the Optimal Control Problem for a Wheeled Inverted Pendulum with Infeasible Initial Guess


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Müller, Andreas (Herausgeber:in) / Brandstötter, Mathias (Herausgeber:in) / Zauner, Christian (Autor:in) / Gattringer, Hubert (Autor:in) / Müller, Andreas (Autor:in)

    Kongress:

    International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022



    Erscheinungsdatum :

    2022-04-23


    Format / Umfang :

    9 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Velocity control of mobile wheeled inverted pendulum

    Mao,L. / Huang,J. / Ding,F. et al. | Kraftfahrwesen | 2013


    INVERTED PENDULUM TYPE TWO-WHEELED VEHICLE

    TAKAGI TAKAFUMI / SEGAWA MASAYA | Europäisches Patentamt | 2015

    Freier Zugriff

    Structure-Preserving Constrained Optimal Trajectory Planning of a Wheeled Inverted Pendulum

    Albert, K. / Phogat, K.W. / Anhalt, F. et al. | BASE | 2020

    Freier Zugriff

    Position Control for Half-Drone Wheeled Inverted Pendulum Robot

    Hoji, Rintaro / Maeyama, Shoichi / Kono, Takuro et al. | British Library Conference Proceedings | 2021