Extending interconnection and damping assignment passivity-based control (IDA-PBC) to underactuated mechanical systems with nonholonomic Pfaffian constraints: The mobile inverted pendulum robot

被引：9
|
作者：
Muralidharan, Vijay [1 ]
Ravichandran, Maruthi T. [1 ]
Mahindrakar, Arun D. [1 ]
机构：
[1] Indian Inst Technol, Dept Elect Engn, Madras 600036, Tamil Nadu, India
来源：
PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009) | 2009年
关键词：
VELOCITY;
D O I：
10.1109/CDC.2009.5399890
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we extend the interconnection and damping assignment passivity-based control strategy to systems subjected to nonholonomic Pfaffian constraints. The results are applied to stabilize the pitch dynamics of an underactuated mobile inverted pendulum (MIP) robot subjected to nonholonomic constraints arising out of no-slip conditions. A novel feature of this paper is that we reduce the kinetic energy partial differential equations and potential energy partial differential equation to a set of ordinary differential equations, that are explicitly solved.
引用
收藏
页码：6305 / 6310
页数：6
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