Control of the Underactuated Inertia Wheel Inverted Pendulum for Stable Limit Cycle Generation

被引：37
作者：
Andary, Sebastien [1 ]
Chemori, Ahmed [1 ]
Krut, Sebastien [1 ]
机构：
[1] Univ Montpellier 2, LIRMM, CNRS, F-34392 Montpellier, France
来源：
ADVANCED ROBOTICS | 2009年 / 23卷 / 15期
关键词：
Limit cycle; underactuated systems; optimization; partial feedback linearization; inertia wheel inverted pendulum;
D O I：
10.1163/016918609X12529279062438
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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. The computation of the reference trajectories is performed in order to optimize the behavior of the whole dynamics of the system and especially its zero dynamics at the end of each cycle. Simulation results as well as experiments show the performance and the efficiency of the proposed control scheme. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2009
引用
收藏
页码：1999 / 2014
页数：16
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