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| HAL : lirmm-00455577, version 1 |
| DOI : 10.1163/016918609X12529279062438 |
| Fiche détaillée |  Récupérer au format |
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| RSJ Advanced Robotics 23, 15 (2009) 1999-2014 |
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| Control of the Underactuated Inertia Wheel Inverted Pendulum for Stable Limit Cycle Generation |
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| Sébastien Andary 1Ahmed Chemori 1 |
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| (01/12/2009) |
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| This paper deals with a control approach dedicated to stable limit cycle generation for underactuated mechanical systems. The proposed approach is based on partial nonlinear feedback linearization and dynamic control for optimal periodic reference trajectories tracking. The computation of the reference trajectories is performed in order to optimize the behavior of the whole dynamics of the system and especially its zero dynamics at the end of each cycle. Simulation results as well as experiments show the performance and the efficiency of the proposed control scheme. |
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| 1 : | Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM) |
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CNRS : UMR5506 – Université Montpellier II - Sciences et Techniques du Languedoc |
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| [ROB/DEXTER] |
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| Domaine | : | Sciences de l'ingénieur/Autre |
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| Limit cycle – underactuated systems – optimization – partial feedback linearization – inertia wheel inverted pendulum |
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| Liste des fichiers attachés à ce document : | |||||
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| lirmm-00455577, version 1 | |
| http://hal-lirmm.ccsd.cnrs.fr/lirmm-00455577 | |
| oai:hal-lirmm.ccsd.cnrs.fr:lirmm-00455577 | |
| Contributeur : Sébastien Krut | |
| Soumis le : Mercredi 10 Février 2010, 16:39:32 | |
| Dernière modification le : Mercredi 17 Février 2010, 15:48:00 | |
