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...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10237188/ |
| _version_ | 1797688437063548928 |
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| author | Munyu Kim Jongwoo Park Dong-Il Park Chanhun Park Joono Cheong |
| author_facet | Munyu Kim Jongwoo Park Dong-Il Park Chanhun Park Joono Cheong |
| author_sort | Munyu Kim |
| collection | DOAJ |
| description | 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 system’s output expressed by the state variables, whose time evolution is to be sought as the solution of the trajectory planning. Instead of simply integrating forward the set of differential equations, which would lead only to an unbounded solution due to its non-minimum phase nature, an asymptotic expansion technique, transforming the original differential equations into a sequence of algebraic equations parameterized by the system’s characteristic constant, is used to allow for a stable and asymptotically exact solution of the dynamic inversion problem. To implement the proposed method for a real-time application where the reference command is not previously known, a command input filter is designed and applied to adjust the real-time input into a sufficiently differentiable reference command suitable for the inversion. Simulation and experimental studies are provided to validate the proposed method using our experimental WIP system. |
| first_indexed | 2024-03-12T01:32:00Z |
| format | Article |
| id | doaj.art-31ffdfc61c7444bbae3668d950239fc0 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-12T01:32:00Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-31ffdfc61c7444bbae3668d950239fc02023-09-11T23:01:44ZengIEEEIEEE Access2169-35362023-01-0111948059482110.1109/ACCESS.2023.331102510237188Dynamic Inversion-Based Real-Time Trajectory Planning Method for Wheeled Inverted Pendulum Using Asymptotic Expansion TechniqueMunyu Kim0https://orcid.org/0000-0001-5375-6344Jongwoo Park1https://orcid.org/0000-0002-7197-0069Dong-Il Park2https://orcid.org/0000-0003-4560-6340Chanhun Park3https://orcid.org/0000-0003-4101-7485Joono Cheong4https://orcid.org/0000-0002-6220-0513Department of Control and Instrumentation Engineering, Korea University, Sejong, South KoreaDepartment of Robotics and Mechatronics, Korea Institute of Machinery and Materials, Daejeon, South KoreaDepartment of Robotics and Mechatronics, Korea Institute of Machinery and Materials, Daejeon, South KoreaDepartment of Robotics and Mechatronics, Korea Institute of Machinery and Materials, Daejeon, South KoreaDepartment of Control and Instrumentation Engineering, Korea University, Sejong, South KoreaThis 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 system’s output expressed by the state variables, whose time evolution is to be sought as the solution of the trajectory planning. Instead of simply integrating forward the set of differential equations, which would lead only to an unbounded solution due to its non-minimum phase nature, an asymptotic expansion technique, transforming the original differential equations into a sequence of algebraic equations parameterized by the system’s characteristic constant, is used to allow for a stable and asymptotically exact solution of the dynamic inversion problem. To implement the proposed method for a real-time application where the reference command is not previously known, a command input filter is designed and applied to adjust the real-time input into a sufficiently differentiable reference command suitable for the inversion. Simulation and experimental studies are provided to validate the proposed method using our experimental WIP system.https://ieeexplore.ieee.org/document/10237188/Wheeled inverted pendulumdynamic inversionreal-time trajectory planningsingular perturbation techniquebalancing robotunderactuated system |
| spellingShingle | Munyu Kim Jongwoo Park Dong-Il Park Chanhun Park Joono Cheong Dynamic Inversion-Based Real-Time Trajectory Planning Method for Wheeled Inverted Pendulum Using Asymptotic Expansion Technique IEEE Access Wheeled inverted pendulum dynamic inversion real-time trajectory planning singular perturbation technique balancing robot underactuated system |
| title | Dynamic Inversion-Based Real-Time Trajectory Planning Method for Wheeled Inverted Pendulum Using Asymptotic Expansion Technique |
| title_full | Dynamic Inversion-Based Real-Time Trajectory Planning Method for Wheeled Inverted Pendulum Using Asymptotic Expansion Technique |
| title_fullStr | Dynamic Inversion-Based Real-Time Trajectory Planning Method for Wheeled Inverted Pendulum Using Asymptotic Expansion Technique |
| title_full_unstemmed | Dynamic Inversion-Based Real-Time Trajectory Planning Method for Wheeled Inverted Pendulum Using Asymptotic Expansion Technique |
| title_short | Dynamic Inversion-Based Real-Time Trajectory Planning Method for Wheeled Inverted Pendulum Using Asymptotic Expansion Technique |
| title_sort | dynamic inversion based real time trajectory planning method for wheeled inverted pendulum using asymptotic expansion technique |
| topic | Wheeled inverted pendulum dynamic inversion real-time trajectory planning singular perturbation technique balancing robot underactuated system |
| url | https://ieeexplore.ieee.org/document/10237188/ |
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