Estimation-based Disturbance Rejection in Control for Limit Cycle Generation on Inertia wheel Inverted Pendulum Testbed - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2009

Estimation-based Disturbance Rejection in Control for Limit Cycle Generation on Inertia wheel Inverted Pendulum Testbed

Abstract

This paper deals with constant disturbances rejection in limit cycle tracking for an under-actuated mechanical system. The feedback controler presented in [1] is enhanced to handle constant disturbances by using online iterative estimation of an equivalent disturbance which is easily compensated by adding the estimated value to the output of the system. The effectiveness of the proposed method is demonstrated through real-time experiments on an inertia wheel inverted pendulum. Constant disturbances are introduced either as a weight asymmetrically fixed to the pendulum body, or by the use of a bad calibrated sensor.

Domains

Automatic
Fichier principal
Vignette du fichier
Estimation-based.pdf (795.79 Ko) Télécharger le fichier
Origin : Publisher files allowed on an open archive
Loading...

Dates and versions

lirmm-00429808 , version 1 (04-11-2009)

Identifiers

Cite

Sébastien Andary, Ahmed Chemori, Sébastien Krut. Estimation-based Disturbance Rejection in Control for Limit Cycle Generation on Inertia wheel Inverted Pendulum Testbed. IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.1302-1307, ⟨10.1109/IROS.2009.5354120⟩. ⟨lirmm-00429808⟩
116 View
424 Download

Altmetric

Share

Gmail Facebook X LinkedIn More