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Conference papers
Stable Limit Cycle Generation for Underactuated Mechanical Systems, Application: Inertia Wheel Inverted Pendulum
Abstract : 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. Simulation results and experiments show the efficiency of the proposed approach.
Cited literature [11 references]
https://hal-lirmm.ccsd.cnrs.fr/lirmm-00305317
Contributor : Ahmed Chemori Connect in order to contact the contributor
Submitted on : Wednesday, July 23, 2008 - 6:33:28 PM
Last modification on : Friday, August 5, 2022 - 3:03:30 PM
Long-term archiving on: : Saturday, November 26, 2016 - 12:16:09 AM
Contributor : Ahmed Chemori Connect in order to contact the contributor
Submitted on : Wednesday, July 23, 2008 - 6:33:28 PM
Last modification on : Friday, August 5, 2022 - 3:03:30 PM
Long-term archiving on: : Saturday, November 26, 2016 - 12:16:09 AM
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IROS08.pdf
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