Stable Limit Cycle Generation for Underactuated Mechanical Systems, Application: Inertia Wheel Inverted Pendulum

Sébastien Andary 1, * Ahmed Chemori 2 Sébastien Krut 2
* Corresponding author
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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.
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Sébastien Andary, Ahmed Chemori, Sébastien Krut. Stable Limit Cycle Generation for Underactuated Mechanical Systems, Application: Inertia Wheel Inverted Pendulum. IROS: Intelligent RObots and Systems, Sep 2008, Nice, France. pp.526-531, ⟨10.1109/IROS.2008.4650994⟩. ⟨lirmm-00305317⟩

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