Dynamic Properties Analysis and Motion Planning for Underactuated Wheeled Acrobot

摘要

Ahstract- This paper concerns the properties analysis and motion planning for an underactuated wheeled Acrobot (WAcrobot). First, an input relationship is constructed based on the structural characteristics of the WAcrobot system, which changes the system into a nonlinear cascade system. And the dynamic properties of the cascade system are analyzed. After that, the properties and a reverse motion idea are used to design a motion trajectory for the WAcrobot in its whole motion space. The trajectory starts from a stable equilibrium point and ends at an unstable equilibrium point of the system. Tracking the trajectory enables the swing-up and stabilization control objective of the WAcrobot to be achieved. Finally, a numerical example demonstrates the effectiveness of our presented theoretical results.