Skip to Main content Skip to Navigation
Journal articles

Control of the Underactuated Inertia Wheel Inverted Pendulum for Stable Limit Cycle Generation

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. 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.
Document type :
Journal articles
Complete list of metadata

Cited literature [14 references]  Display  Hide  Download

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00455577
Contributor : Sébastien Krut Connect in order to contact the contributor
Submitted on : Wednesday, February 10, 2010 - 4:39:32 PM
Last modification on : Tuesday, March 9, 2021 - 5:09:28 PM
Long-term archiving on: : Friday, June 18, 2010 - 5:46:08 PM

File

2009_andary_AdvancedRobotics.p...
Publisher files allowed on an open archive

Identifiers

Collections

Citation

Sébastien Andary, Ahmed Chemori, Sébastien Krut. Control of the Underactuated Inertia Wheel Inverted Pendulum for Stable Limit Cycle Generation. Advanced Robotics, Taylor & Francis, 2009, 23 (15), pp.1999-2014. ⟨10.1163/016918609X12529279062438⟩. ⟨lirmm-00455577⟩

Share

Metrics

Record views

424

Files downloads

2041