A speed regulator for a torque-driven inertia wheel pendulum

Jesús Sandoval; Rafael Kelly; Víctor Santibáñez; Javier Moreno-Valenzuela

doi:10.1016/j.ifacol.2020.12.1749

A speed regulator for a torque-driven inertia wheel pendulum

Jesús Sandoval, Rafael Kelly, Víctor Santibáñez, Javier Moreno-Valenzuela

Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI)

Research output: Contribution to journal › Conference article › peer-review

2 Scopus citations

Abstract

In this paper, we present a speed regulator for a torque-driven inertia wheel pendulum. The proposed controller allows bringing the nonactuated pendulum towards its upright position, while the wheel moves asymptotically at desired constant speed, recovering the popular position regulation control objective for both pendulum and wheel when the desired wheel speed is zero. Also, a complete stability analysis based on the Lyapunov theory and the Barbashin-Krasovskii theorem is presented. Simulation results upon a torque-driven inertia wheel pendulum model illustrate the performance of the proposed controller.

Original language	English
Pages (from-to)	6293-6298
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	53
DOIs	https://doi.org/10.1016/j.ifacol.2020.12.1749
State	Published - 2020
Event	21st IFAC World Congress 2020 - Berlin, Germany Duration: 12 Jul 2020 → 17 Jul 2020

Keywords

Barbashin-Krasovskii's theorem
Coordinates transformation
Stability
Underactuated mechanical systems

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10.1016/j.ifacol.2020.12.1749

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title = "A speed regulator for a torque-driven inertia wheel pendulum",

abstract = "In this paper, we present a speed regulator for a torque-driven inertia wheel pendulum. The proposed controller allows bringing the nonactuated pendulum towards its upright position, while the wheel moves asymptotically at desired constant speed, recovering the popular position regulation control objective for both pendulum and wheel when the desired wheel speed is zero. Also, a complete stability analysis based on the Lyapunov theory and the Barbashin-Krasovskii theorem is presented. Simulation results upon a torque-driven inertia wheel pendulum model illustrate the performance of the proposed controller.",

keywords = "Barbashin-Krasovskii's theorem, Coordinates transformation, Stability, Underactuated mechanical systems",

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note = "Publisher Copyright: Copyright {\textcopyright} 2020 The Authors. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0); 21st IFAC World Congress 2020 ; Conference date: 12-07-2020 Through 17-07-2020",

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T1 - A speed regulator for a torque-driven inertia wheel pendulum

AU - Sandoval, Jesús

AU - Kelly, Rafael

AU - Santibáñez, Víctor

AU - Moreno-Valenzuela, Javier

PY - 2020

Y1 - 2020

N2 - In this paper, we present a speed regulator for a torque-driven inertia wheel pendulum. The proposed controller allows bringing the nonactuated pendulum towards its upright position, while the wheel moves asymptotically at desired constant speed, recovering the popular position regulation control objective for both pendulum and wheel when the desired wheel speed is zero. Also, a complete stability analysis based on the Lyapunov theory and the Barbashin-Krasovskii theorem is presented. Simulation results upon a torque-driven inertia wheel pendulum model illustrate the performance of the proposed controller.

AB - In this paper, we present a speed regulator for a torque-driven inertia wheel pendulum. The proposed controller allows bringing the nonactuated pendulum towards its upright position, while the wheel moves asymptotically at desired constant speed, recovering the popular position regulation control objective for both pendulum and wheel when the desired wheel speed is zero. Also, a complete stability analysis based on the Lyapunov theory and the Barbashin-Krasovskii theorem is presented. Simulation results upon a torque-driven inertia wheel pendulum model illustrate the performance of the proposed controller.

KW - Barbashin-Krasovskii's theorem

KW - Coordinates transformation

KW - Stability

KW - Underactuated mechanical systems

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DO - 10.1016/j.ifacol.2020.12.1749

M3 - Artículo de la conferencia

AN - SCOPUS:85107584708

SN - 1474-6670

VL - 53

SP - 6293

EP - 6298

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

T2 - 21st IFAC World Congress 2020

Y2 - 12 July 2020 through 17 July 2020

ER -

A speed regulator for a torque-driven inertia wheel pendulum

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Keywords

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