Nonlinear analysis on purely mechanical stabilization of a wheeled inverted pendulum on a slope

DOI10.1007/S11071-015-2376-7MaRDI QIDQ331284zbMATH OpenOpenAlexFDO

Authors Katsutoshi Yoshida, Munehisa Sekikawa, Kenta Hosomi

Publication date 26 October 2016

Published in Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1509.00605

zbMATH Keywords

gravitywheeled inverted pendulumfrictionasymptotic stabilizationpassive control

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Asymptotic stability in control theory (93D20) Stability for problems in linear vibration theory (70J25)

Abstract: This paper investigates the potential for stabilizing an inverted pendulum without electric devices, using gravitational potential energy. We propose a wheeled mechanism on a slope, specifically, a wheeled double pendulum, whose second pendulum transforms gravity force into braking force that acts on the wheel. In this paper, we derive steady-state equations of this system and conduct nonlinear analysis to obtain parameter conditions under which the standing position of the first pendulum becomes asymptotically stable. In this asymptotically stable condition, the proposed mechanism descends the slope in a stable standing position, while dissipating gravitational potential energy via the brake mechanism. By numerically continuing the stability limits in the parameter space, we find that the stable parameter region is simply connected. This implies that the proposed mechanism can be robust against errors in parameter setting.

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Cites work

• On passive stabilization in critical cases
• On the passive stabilization of the equilibrium state of Lagrangian systems

Cited in

(1)

• Control of pendulum tracking (including swinging up) of IPC system using zeroing-gradient method

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