Dynamic Inversion-Based Real-Time Trajectory Planning Method for Wheeled Inverted Pendulum Using Asymptotic Expansion Technique

Dynamic Inversion-Based Real-Time Trajectory Planning Method for Wheeled Inverted Pendulum Using Asymptotic Expansion Technique

This paper presents a real-time trajectory planning method for highly dynamic tracking control of wheeled inverted pendulum (WIP) systems. A generic form of dynamic inversion problem for the class of WIPs is defined by combining a set of kinematic and dynamic differential constraints related to the...

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Bibliographic Details
Main Authors: Munyu Kim, Jongwoo Park, Dong-Il Park, Chanhun Park, Joono Cheong
Format: Article
Language:English
Published: IEEE 2023-01-01
Series:IEEE Access
Subjects:
Wheeled inverted pendulum
dynamic inversion
real-time trajectory planning
singular perturbation technique
balancing robot
underactuated system
Online Access:https://ieeexplore.ieee.org/document/10237188/

Internet

https://ieeexplore.ieee.org/document/10237188/

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