Abstract
The dynamics of the inertia-wheel pendulum, when subjected to impulsive inputs, can be described by algebraic equations. Optimal sequences of these inputs, that minimize their infinity norm, are designed for rest-to-rest maneuvers. The results are applied to the well-studied swing-up problem, and high-gain feedback is used for continuous approximation of the inputs and simulation of the impulsive dynamics. Analytical and simulation results establish a direct link between high wheel velocities during swing-up and control strategies that take the pendulum directly to the upright configuration. They also indicate that optimal trajectories resemble those of energy-based controllers and can be designed to satisfy the torque constraint of the actuator.
Recommended Citation
N. Kant and R. Mukherjee, "Impulsive Dynamics and Control of the Inertia-Wheel Pendulum," IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 3208 - 3215, Institute of Electrical and Electronics Engineers, Oct 2018.
The definitive version is available at https://doi.org/10.1109/LRA.2018.2851029
Department(s)
Mechanical and Aerospace Engineering
Keywords and Phrases
Dynamics; optimization and optimal control; underactuated robots
International Standard Serial Number (ISSN)
2377-3766
Document Type
Article - Journal
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2025 Institute of Electrical and Electronics Engineers, All rights reserved.
Publication Date
01 Oct 2018
