This chapter introduces a new composite control scheme for the trajectory tracking of the IWP. The total control action is composed by the sum of a feedback-linearization-based controller and an energy-based compensation. The control objective is the tracking of a desired periodic trajectory in the actuated joint (the wheel), while the unactuated link is regulated at the upward position.
|Title of host publication||Intelligent Systems, Control and Automation|
|Subtitle of host publication||Science and Engineering|
|Number of pages||22|
|State||Published - 1 Jan 2018|
|Name||Intelligent Systems, Control and Automation: Science and Engineering|