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

Sébastien Andary 1, * Ahmed Chemori 2 Sébastien Krut 2
* Corresponding author
1 LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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.
Document type :
Conference papers
Complete list of metadatas

Cited literature [11 references]  Display  Hide  Download
https://hal-lirmm.ccsd.cnrs.fr/lirmm-00305317
Contributor : Ahmed Chemori <>
Submitted on : Wednesday, July 23, 2008 - 6:33:28 PM
Last modification on : Tuesday, December 10, 2019 - 8:52:01 PM
Long-term archiving on: Saturday, November 26, 2016 - 12:16:09 AM

File

IROS08.pdf
Files produced by the author(s)

Identifiers

Collections

CNRS | DEXTER | LIRMM | TDS-MACS | MIPS | UNIV-MONTPELLIER

Citation

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⟩

Export

BibTeX TEI DC DCterms EndNote

Share

Metrics

Record views

230

Files downloads

200

Contact

Informations

CCSD