Composite control of the IWP

Javier Moreno-Valenzuela, Carlos Aguilar-Avelar

    Research output: Chapter in Book/Report/Conference proceedingChapter

    1 Scopus citations

    Abstract

    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.

    Original languageEnglish
    Title of host publicationIntelligent Systems, Control and Automation
    Subtitle of host publicationScience and Engineering
    PublisherSpringer Netherlands
    Pages119-140
    Number of pages22
    DOIs
    StatePublished - 1 Jan 2018

    Publication series

    NameIntelligent Systems, Control and Automation: Science and Engineering
    Volume88
    ISSN (Print)2213-8986
    ISSN (Electronic)2213-8994

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    Cite this

    Moreno-Valenzuela, J., & Aguilar-Avelar, C. (2018). Composite control of the IWP. In Intelligent Systems, Control and Automation: Science and Engineering (pp. 119-140). (Intelligent Systems, Control and Automation: Science and Engineering; Vol. 88). Springer Netherlands. https://doi.org/10.1007/978-3-319-58319-8_7