A Dual Model-Free Control of Underactuated Mechanical Systems, Application to The Inertia Wheel Inverted Pendulum - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2012

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

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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lirmm-00723934 , version 1 (15-08-2012)

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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, ⟨10.1109/ACC.2012.6315492⟩. ⟨lirmm-00723934⟩
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