Title :
Global stabilization of a flat underactuated system: the inertia wheel pendulum
Author :
Olfati-Saber, Reza
Author_Institution :
Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA
Abstract :
Inertial Wheel Pendulum (IWP) is a planar pendulum with a revolving wheel (that has a uniform mass distribution) at the end. The pendulum is unactuated and the wheel is actuated. Our main result is to address global asymptotic stabilization of the inertia wheel pendulum around its up-right position. Simulation results are provided for parameters taken from a real-life model of the IWP
Keywords :
mechanical stability; pendulums; flat underactuated system global stabilization; inertia wheel pendulum; planar pendulum; real-life model parameters simulation; Backstepping; Control systems; Ear; Lagrangian functions; Robust stability; State feedback; Torque control; Transmission line matrix methods; Weight control; Wheels;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980449
