특이 섭동 기법 기반의 이륜 역진자 로봇 궤적 생성 기법Singular Perturbation Technique based Trajectory Planning Method for Two Wheeled Inverted Pendulum
- Other Titles
- Singular Perturbation Technique based Trajectory Planning Method for Two Wheeled Inverted Pendulum
- Authors
- 김문유; 정주노
- Issue Date
- 2022
- Publisher
- 제어·로봇·시스템학회
- Keywords
- .; Balancing; Dynamic inversion; Singular perturbation; Trajectory planning; Two wheeled inverted pendulum
- Citation
- 제어.로봇.시스템학회 논문지, v.28, no.5, pp.505 - 513
- Indexed
- SCOPUS
KCI
- Journal Title
- 제어.로봇.시스템학회 논문지
- Volume
- 28
- Number
- 5
- Start Page
- 505
- End Page
- 513
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/142007
- DOI
- 10.5302/J.ICROS.2022.22.0062
- ISSN
- 1976-5622
- Abstract
- We propose a method that computes an inverse solution of the wheeled inverted pendulum (TWIP) for trajectory tracking problem using singular perturbation principle. We observe that the TWIP shows a combined slow and fast behaviors during motion, where the slow motion is the gross motion of the TWIP while the fast motion is the pitch motion of the TWIP itself. The singular parameter, which separates slow and fast parts of dynamics, is defined by pendulum’s mass and length parameters. The proposed method considers dynamic and kinemaitc constraints, parameterized with the singular parameter defined, with appropriate boundary conditions to obtain a consistent solution that is mathematically expressed by infinite series. Details of the solution method is presented and validated via experimentation with linear and circle tracking tasks.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - Graduate School > Department of Control and Instrumentation Engineering > 1. Journal Articles
![qrcode](https://api.qrserver.com/v1/create-qr-code/?size=55x55&data=https://scholar.korea.ac.kr/handle/2021.sw.korea/142007)
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.