DocumentCode
3095313
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
fYear
2008
fDate
22-26 Sept. 2008
Firstpage
526
Lastpage
531
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location
Nice
Print_ISBN
978-1-4244-2057-5
Type
conf
DOI
10.1109/IROS.2008.4650994
Filename
4650994
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