Stable Limit Cycle Generation for Underactuated Mechanical Systems, Application: Inertia Wheel Inverted Pendulum

Sébastien Andary; Ahmed Chemori; Sébastien Krut

doi:10.1109/IROS.2008.4650994

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Stable Limit Cycle Generation for Underactuated Mechanical Systems, Application: Inertia Wheel Inverted Pendulum

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Stable Limit Cycle Generation for Underactuated Mechanical Systems, Application: Inertia Wheel Inverted Pendulum

Sébastien Andary, Ahmed Chemori et Sébastien Krut

IROS: Intelligent RObots and Systems, pp.526-531

IROS: Intelligent RObots and Systems (Nice, France, 22/09/2008–26/09/2008)

2008

DOI: https://doi.org/10.1109/IROS.2008.4650994

Résumé

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.

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Détails

Titre: Stable Limit Cycle Generation for Underactuated Mechanical Systems, Application: Inertia Wheel Inverted Pendulum
Créateurs - sans rôle: Sébastien Andary - Université de Montpellier, Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier - LIRMM
Ahmed Chemori - Université de Montpellier
Sébastien Krut - Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier
Détails de publication: IROS: Intelligent RObots and Systems, pp.526-531
Colloque: IROS: Intelligent RObots and Systems (Nice, France, 22/09/2008–26/09/2008)
Identifiants: 9944873309311
Unité académique: Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier - LIRMM
Langue: English
Type de ressource: Conference proceeding
Champs locaux: lirmm-00305317