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A Dual Model-Free Control of Underactuated Mechanical Systems, Application to The Inertia Wheel Inverted Pendulum

Sébastien Andary 1 Ahmed Chemori 2 Michel Benoit 1 Jean Sallantin 3
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 COCONUT - Agents, Apprentissage, Contraintes
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper deals with a new method allowing recent model-free control technique to deal with underactuated mechanical systems for stable limit cycles generation. A model-free controller is designed in order to track some parametrized reference trajectories. A second model-free controller is then designed using trajectories' parameters as control inputs in order to stabilize the internal dynamics. The proposed method is applied to a real underactuated mechanical system: the inertia wheel inverted pendulum. Numerical simulations as well as real-time experiments are presented showing the e ectiveness of the proposed control method and its robustness toward external disturbances.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00723934
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Submitted on : Wednesday, August 15, 2012 - 6:40:33 PM
Last modification on : Tuesday, December 17, 2019 - 2:10:58 AM
Long-term archiving on: : Friday, November 16, 2012 - 2:25:07 AM

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Sébastien Andary, Ahmed Chemori, Michel Benoit, Jean Sallantin. A Dual Model-Free Control of Underactuated Mechanical Systems, Application to The Inertia Wheel Inverted Pendulum. ACC'2012 : American Control Conference, Jun 2012, Montréal, Canada. pp.1029-1034. ⟨lirmm-00723934⟩

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