1309 Nonholonomic Trajectory Control of a Wheeled Inverted Pendulum Mobile Robot

Abstract

We propose a trajectory control design for a wheeled inverted pendulum robot, which can be considered as a mechanical system with nonholonomic constraints. First, we make a mathematical model of a wheeled inverted pendulum robot as an implicit Lagrangian system and then show the passivity based control by introducing a controlled Lagrangian in the context of the implicit port-controlled Lagrangian system. Lastly, we demonstrate our theory by some experiments and numerical simulations.