Swing-Up and Stability Control of Wheeled Acrobot (WAcrobot)

摘要

In this paper the Wheeled Acrobot (WAcrobot), a novel mechanical system consisting of an underactuated double inverted pendulum robot (Acrobot) equipped with actuated wheels, is described. This underactuated and highly nonlinear system has potential applications in mobile manipulators and leg-wheeled robots. It is also a test-bed for researchers studying advanced methodologies in nonlinear control. The control system for swing-up of the WAcrobot based on collocated or non-collocated feedback linearisation to linearise the active or passive Degree Of Freedom (DOF) followed by Linear Quadratic Regulator (LQR) to stabilise the robot is discussed. The effectiveness of the proposed scheme is validated with numerical simulation. The numerical results are visualised by graphical simulation to demonstrate the correlation between the numerical results and the WAcrobot physical response.