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arXiv · 1811.07323

Nonlinear control of a swinging pendulum on a wheeled mobile robot with nonholonomic constraints

Nikhil Potu Surya Prakash
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Abstract

In this paper, we propose a nonlinear control strategy for swinging up a pendulum to its upright equilibrium position by shaping its swinging energy along with regulating the cart to a desired location. While the base of a usual cart-pole system is restricted to move in a straight line, the present system is allowed to move in the x-y plane with a nonholonomic consraint that its allowable velocity is only along its orientation. A simple time invariant control law has been presented and its effectiveness has been demonstrated using numerical experiments.

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Nikhil Potu Surya Prakash. 2018-11-18. Nonlinear control of a swinging pendulum on a wheeled mobile robot with nonholonomic constraints. https://arxiv.org/abs/1811.07323

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