Title :
Modeling, Identification and Control of an Under Actuated Inertial Wheel Pendulum
Author :
Abrahantes, Miguel ; Mulder, Jeffrey ; Butter, Karl
Author_Institution :
Dept. of Eng., Hope Coll., Holland, MI
Abstract :
This work describes the modeling and identification of the parameters of an actual under actuated pendulum that uses an inertial wheel to produce the torque that moves the pendulum arm. The results are validated using a prototype constructed in the System and Control Laboratory at Hope College. This mechanical system is a useful tool for teaching and research. This paper describes the parameter identification methodology of the proposed model. A comparison between simulation and experimental data are included to analyze the accuracy of the model. Different models for non-lineal behavior like certain kinds of frictions and dead-zone effect are presented. This work concludes with a simple strategy to control the swing up and catching the pendulum in its inverted position.
Keywords :
control engineering education; nonlinear control systems; parameter estimation; pendulums; dead-zone effect; friction; inverted pendulum; nonlinear behavior; parameter identification; pendulum arm; teaching; underactuated inertial wheel pendulum; Analytical models; Control systems; Education; Educational institutions; Laboratories; Mechanical systems; Parameter estimation; Prototypes; Torque; Wheels;
Conference_Titel :
System Theory, 2007. SSST '07. Thirty-Ninth Southeastern Symposium on
Conference_Location :
Macon, GA
Print_ISBN :
1-4244-1126-2
Electronic_ISBN :
0094-2898
DOI :
10.1109/SSST.2007.352306