2009
DOI: 10.1163/016918609x12529279062438
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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 perfo… Show more

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Cited by 35 publications
(40 citation statements)
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“…Indeed, various examples of such systems have been reported in the robotics literature. Basic examples of underactuated systems are the inverted pendula, including the cart-pole inverted pendulum [10], Furuta inverted pendulum [11], the wheeled inverted pendulum [12] and the inertia wheel inverted pendulum [13]. Other examples include, among others, underactuated manipulators [14], gymnast robots [15] [16], underwater vehicles [17], some mobile robots [18] and some aerial vehicles, like the PVTOL (Planar Vertical Takeoff and Landing) [19].…”
Section: A Underactuated Roboticsmentioning
confidence: 99%
“…Indeed, various examples of such systems have been reported in the robotics literature. Basic examples of underactuated systems are the inverted pendula, including the cart-pole inverted pendulum [10], Furuta inverted pendulum [11], the wheeled inverted pendulum [12] and the inertia wheel inverted pendulum [13]. Other examples include, among others, underactuated manipulators [14], gymnast robots [15] [16], underwater vehicles [17], some mobile robots [18] and some aerial vehicles, like the PVTOL (Planar Vertical Takeoff and Landing) [19].…”
Section: A Underactuated Roboticsmentioning
confidence: 99%
“…This system consists of an inverted pendulum equipped with a rotating wheel. The dynamical equations of this system are as follows (Andary et al, 2009):…”
Section: Practical Design Examplesmentioning
confidence: 99%
“…Different control schemes have been developed and implemented on this testbed (Fig. 5) [21], [22], [23]. Fig.…”
Section: ) Stabilization With External Disturbancesmentioning
confidence: 99%