Title :
Stable limit cycle generation for underactuated mechanical systems, application: Inertia wheel inverted pendulum
Author :
Andary, Sebastien ; Chemori, Ahmed ; Krut, Sebastien
Author_Institution :
LIRMM, Univ. Montpellier 2, Montpellier
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. Simulation results and experiments show the efficiency of the proposed approach.
Keywords :
feedback; limit cycles; linearisation techniques; mobile robots; nonlinear control systems; optimal control; pendulums; periodic control; position control; robot dynamics; stability; tracking; wheels; dynamic control; inertia wheel inverted pendulum; optimal periodic reference trajectory tracking; partial nonlinear feedback linearization; stable limit cycle generation; underactuated mechanical system; Equations; Joints; Optimization; Robots; Torque; Trajectory; Wheels;
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
DOI :
10.1109/IROS.2008.4650994
