Modelling and motion control of a double-pendulum driven cart

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Authors: Liu, Y., Yu, H. and Cang, S.

Journal: Proceedings of the Institution of Mechanical Engineers, Part I, Journal of Systems and Control Engineering

ISSN: 0959-6518

This data was imported from DBLP:

Authors: Liu, Y., Yu, H. and Cang, S.

Journal: J. Systems & Control Engineering

Volume: 226

Pages: 175-187

This data was imported from Scopus:

Authors: Liu, Y., Yu, H. and Cang, S.

Journal: Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering

Volume: 226

Issue: 2

Pages: 175-187

eISSN: 2041-3041

ISSN: 0959-6518

DOI: 10.1177/0959651811414507

The significant advantage of ground mobile robots (GMRs) is their accessibility to areas that are inaccessible for humans. One difficulty of current GMR technology is that the external driving mechanisms, such as wheel, track, and leg, restrict its applications. In order to solve this limitation, the present paper proposes a novel driving mechanism using a novel GMR called the double-pendulum driven cart (DPDC). The DPDC, which employs only internal thrust and static friction, is capable of steering by two parallel pendulums mounted on the cart, and is able to implement planar elemental motions by designing the pendulum trajectory properly. The paper first studies the dynamic modelling and the motion control issues of the DPDC. A closed-loop controller using the partial feedback linearization technique is then designed for the tracking control of the parallel pendulums to guarantee accurate motion of the cart. Extensive simulation results verify the proposed model and the efficiency of the motion control strategy. © 2012 IMechE.

This data was imported from Web of Science (Lite):

Authors: Liu, Y., Yu, H. and Cang, S.

Journal: PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING

Volume: 226

Issue: I2

Pages: 175-187

ISSN: 0959-6518

DOI: 10.1177/0959651811414507

The data on this page was last updated at 04:56 on May 20, 2019.