Title :
Sampled data dynamic surface control for inertia wheel pendulum
Author :
Mehdi, Nafaa ; Malik, Fahad Mumtaz ; Bhatti, Aamer Iqbal ; Qaiser, Nauman
Author_Institution :
Coll. of Electr. & Mech. Eng., Nat. Univ. of Sci. & Technol., Islamabad, Pakistan
Abstract :
We present sampled-data version of dynamic surface control for a benchmark underactuated mechanical system in strict feedback form. Continuous time control law has been discretized in the first place and then applied to control inertia wheel pendulum. Performance comparison has also been made between sampled data and continuous time versions. Simulation results illustrate that sampled data version recovers the performance of continuous time dynamic surface control for reasonably small sampling time.
Keywords :
continuous time systems; feedback; nonlinear control systems; pendulums; sampled data systems; wheels; benchmark underactuated mechanical system; continuous time dynamic surface control law; inertia wheel pendulum; sampled data dynamic surface control; strict feedback form; Mathematical model; Mechanical systems; Nonlinear systems; Trajectory; Vehicle dynamics; Wheels; dynamic surface control; inertia wheel pendulum; sampled data control; underactuated mechanical system;
Conference_Titel :
Robotics and Artificial Intelligence (ICRAI), 2012 International Conference on
Conference_Location :
Rawalpindi
Print_ISBN :
978-1-4673-4884-3
DOI :
10.1109/ICRAI.2012.6413401
