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. Attached Files Name Description MIMEType Size Downloads Title Swing-up and stability control of Wheeled Acrobot (WAcrobot) Author(s) Moradi Dalvand,M Shirinzadeh,B Nahavandi,S 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 Related Links Link Description Connect to published version Go to link with your DU access privileges   Connect to Elements publication management system Go to link with your DU access privileges     Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved. Versions Version Filter Type Mon, 02 Mar 2015, 14:50:11 EST Wed, 04 Mar 2015, 13:49:17 EST Wed, 04 Mar 2015, 14:37:10 EST Wed, 04 Mar 2015, 14:49:47 EST Wed, 11 Mar 2015, 12:28:37 EST Wed, 11 Mar 2015, 12:30:26 EST Filtered Full Citation counts:   Cited 1 times in TR Web of Science Cited 1 times in Scopus Search Google Scholar Access Statistics: 212 Abstract Views, 1 File Downloads  -  Detailed Statistics Created: Wed, 04 Mar 2015, 13:49:17 EST

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