Control of the Underactuated Inertia Wheel Inverted Pendulum for Stable Limit Cycle Generation
نویسندگان
چکیده
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. © Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2009
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ورودعنوان ژورنال:
- Advanced Robotics
دوره 23 شماره
صفحات -
تاریخ انتشار 2009