 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 12854 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8044
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| In English (Mech. Solids): | | 4810 |
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| << Previous article | Volume 41, Issue 6 / 2006 | Next article >> |
| V. N. Belotelov and Yu. G. Martynenko, "Control of spatial motion of an inverted pendulum mounted on a wheel pair," Mech. Solids. 41 (6), 6-21 (2006) |
| Year |
2006 |
Volume |
41 |
Number |
6 |
Pages |
6-21 |
| Title |
Control of spatial motion of an inverted pendulum mounted on a wheel pair |
| Author(s) |
V. N. Belotelov (Moscow)
Yu. G. Martynenko (Moscow) |
| Abstract |
We consider the spatial motion of an inverted pendulum mounted on a wheel
pair on a horizontal rough plane. The system is controlled by two
independent DC motors, each of which creates a torque between one of the
wheels and the pendulum via a reduction unit. We find the stationary
motions of the system under constant voltages applied to the motors and
suggest an algorithm for stabilizing the vertical position of the pendulum
when the wheel pair center moves on a circle at a constant velocity. We
also present the results of numerical experiments with a nonlinear model
taking into account constraints on the voltage applied to the motors. |
| References |
| 1. | F. Grasses, A. D'Arrigo, S. Colombi, and A. C. Rufer,
"A mobile, inverted pendulum,"
IEEE Trans. Industrial Electronics,
Vol. 49, No. 1, pp. 107-114, 2002. |
| 2. | Yu. G. Martynenko,
"To the theory of control of monocycle,"
PMM [Applied Mathematics and Mechanics],
Vol. 69, No. 4, pp. 569-583, 2005. |
| 3. | K. Pathak, J. Franch, and S. K. Agrawal,
"Velocity and position control of a wheeled inverted pendulum
by partial feedback linearization,"
IEEE Trans. Robotronics,
Vol. 21, No. 3, pp. 505-513, 2005. |
| 4. | http://leiwww.epfl.ch/joe/joerelatives.html |
| 5. | http://www.segway.com |
| 6. | H. G. Nguyen, G. Kogut, R. Barua, A. Burmeister,
N. Rezeshkin, D. Powell, N. Farrington, M. Wimmer,
B. Cicchetto, C. Heng, and V. Ramirez,
"A Segway RMP-based robotic transport system,"
in SPIE Proc. 5609: Mobile Robots XVII, Philadelphia. PA, 2004. |
| 7. | R. E. Kalman, P. L. Falb, and M. A. Arbib,
Topics in Mathematical System Theory,
McGraw-Hill, New York, 1969. |
|
| Received |
24 August 2006 |
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