Control of the Underactuated Inertia Wheel Inverted Pendulum for Stable Limit Cycle Generation - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Accéder directement au contenu
Article Dans Une Revue Advanced Robotics Année : 2009

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

Résumé

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.
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Dates et versions

lirmm-00455577 , version 1 (10-02-2010)

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