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2009
Conference Paper
Titel
Motion planning and feedback control of a planar robotic unicycle model
Abstract
Open and closed loop control design for the planar motion of a unicycle model consisting of a double pendulum mounted on a rolling wheel is considered. The motion planning problem is solved by prescribing trajectories to the two pendulum angles, the wheel angle is then obtained by integrating twice. A feedforward control trajectory directly follows from this parametrization. A feedback stabilizing the planned motion is designed after linearization of the relevant subsystem about the planned trajectories. Simulation results show the usefulness of the result.
Author(s)