Impulsive Dynamics and Control of the Inertia-Wheel Pendulum

Nilay Kant; Ranjan Mukherjee

RA-L 201816 citations

Impulsive Dynamics and Control of the Inertia-Wheel Pendulum

Abstract

The dynamics of the inertia-wheel pendulum, when subjected to impulsive inputs, can be described by algebraic equations. Optimal sequences of these inputs, that minimize their infinity norm, are designed for rest-to-rest maneuvers. The results are applied to the well-studied swing-up problem, and high-gain feedback is used for continuous approximation of the inputs and simulation of the impulsive dynamics. Analytical and simulation results establish a direct link between high wheel velocities during swing-up and control strategies that take the pendulum directly to the upright configuration. They also indicate that optimal trajectories resemble those of energy-based controllers and can be designed to satisfy the torque constraint of the actuator.

BibTeX

@inproceedings{ral2018_impulsivedynamic,
  title = {Impulsive Dynamics and Control of the Inertia-Wheel Pendulum},
  author = {Nilay Kant and Ranjan Mukherjee},
  booktitle = {RA-L 2018},
  year = {2018}
}