シャ　キンカ   Jinhua She   佘　錦華    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2018/06
形態種別	国際会議論文
査読	査読あり
標題	Dynamic properties analysis and motion planning for underactuated wheeled Acrobot
執筆形態	共著
掲載誌名	The 27th International Symposium on Industrial Electronics (ISIE 2018)
掲載区分	国外
出版社・発行元	IEEE
巻・号・頁	pp.559-564
担当範囲	All
著者・共著者	Ancai Zhang, Jinhua She, Jianlong Qiu, Chengdong Yang, Xinghui Zhang, and Guochen Pang
概要	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 theWAcrobot 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.