Nonlinear control of a swinging pendulum on a wheeled mobile robot with nonholonomic constraints
This work addresses control challenges for mobile robots with pendulums in robotics, but it appears incremental as it adapts known energy-shaping methods to a nonholonomic system.
The paper tackles the problem of swinging up a pendulum to an upright position while regulating a wheeled mobile robot's location under nonholonomic constraints, achieving effectiveness through a simple time-invariant control law as demonstrated in numerical experiments.
In this paper, we propose a nonlinear control strategy for swinging up a pendulum to its upright equilibrium position by shaping its swinging energy along with regulating the cart to a desired location. While the base of a usual cart-pole system is restricted to move in a straight line, the present system is allowed to move in the x-y plane with a nonholonomic consraint that its allowable velocity is only along its orientation. A simple time invariant control law has been presented and its effectiveness has been demonstrated using numerical experiments.