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Modeling and Control for a Flexible Inverted Pendulum RobotThis report describes the tasks accomplished during Fall 2020 at the Kennedy Space Center under the scope of the Robotic Control System Design internship project. These tasks primarily supported development of an augmented adaptive control system for an inverted pendulum (IP) robotic system on a 4-wheel mobile base (Penny). This system serves as an analogue to the control problems in the flight of rockets in the initial and latter stages of launch, and methods developed as part of this research can later be applied to more complex IP systems, such as launch vehicles. To more accurately model launch vehicles, a flexible aluminum pendulum is used both on the hardware and in the simulated models. In order to capture the flexible dynamics of the system, hardware modifications were made to Penny (including installation of a rate gyro at the tip of the pendulum). Simulink models were created to control and model the hardware system, and Simscape models were created/updated to model the system in simulation. MATLAB programs were created throughout the internship to analyze data generated from hardware and simulation runs. Linear fixed-gain controllers have been applied to the simulated and hardware system, and work continues with augmenting these controllers using sensor blending and direct output adaptive control methods to improve stabilization of system states and cancel flex dynamics. In addition to describing the work done to support these modeling efforts, an Independent Research and Technology Development (IR&TD) proposal for a lunar simulation with soil deformation modeling developed during the internship is briefly described.
Document ID
Acquisition Source
Kennedy Space Center
Document Type
Contractor or Grantee Report
Nashir A Janmohamed
(Santa Monica College Santa Monica, California, United States)
Michael A Dupuis
(Kennedy Space Center Merritt Island, Florida, United States)
Date Acquired
November 11, 2020
Publication Date
November 24, 2020
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Funding Number(s)
Distribution Limits
Use by or on behalf of the US Gov. Permitted.
Technical Review
NASA Technical Management
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