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Swing-up and stability control of Wheeled Acrobot (WAcrobot)

Moradi Dalvand,M, Shirinzadeh,B and Nahavandi,S 2014, Swing-up and stability control of Wheeled Acrobot (WAcrobot), Automatika, vol. 55, no. 1, pp. 32-40, doi: 10.7305/automatika.2014.01.109.

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Title Swing-up and stability control of Wheeled Acrobot (WAcrobot)
Author(s) Moradi Dalvand,M
Shirinzadeh,B
Nahavandi,SORCID iD for Nahavandi,S orcid.org/0000-0002-0360-5270
Journal name Automatika
Volume number 55
Issue number 1
Start page 32
End page 40
Publisher KoREMA
Place of publication Zagreb, Croatia
Publication date 2014
ISSN 0005-1144
Keyword(s) Double inverted pendulum
Linear quadratic regulator (LQR)
Partial feedback linearisation
Stabilisation
Underactuated robot
Wheeled robot
Science & Technology
Technology
Automation & Control Systems
Engineering, Electrical & Electronic
Engineering
ROTARY INVERTED PENDULUM
FEEDBACK-CONTROL
MOBILE
CONTROLLABILITY
SYSTEMS
CART
Summary 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.
Language eng
DOI 10.7305/automatika.2014.01.109
Field of Research 091302 Automation and Control Engineering
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1 Refereed article in a scholarly journal
ERA Research output type C Journal article
Copyright notice ©2014, KoREMA
Persistent URL http://hdl.handle.net/10536/DRO/DU:30070155

Document type: Journal Article
Collection: Centre for Intelligent Systems Research
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