Energy regulation for a torque-driven vertical inertia wheel pendulum

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

doi:10.1016/j.conengprac.2021.104909

Energy regulation for a torque-driven vertical inertia wheel pendulum

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

Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI)

Research output: Contribution to journal › Article › peer-review

5 Scopus citations

Abstract

The energy regulation of a torque–driven vertical inertia wheel pendulum is addressed in this paper, which allows to achieve an oscillatory motion of the non actuated pendulum around its upright position through the proper motion of the actuated inertia wheel. The contribution of the present paper is an energy regulator capable of inducing oscillations of the pendulum with a user specified desired amplitude. More precisely, the proposed controller achieves locally asymptotically an oscillatory motion of pendulum around its upright position, in which its amplitude can be specified within an interval. Simulation and experimental results on a torque–driven inertia wheel pendulum illustrate the performance of the proposed controller.

Original language	English
Article number	104909
Journal	Control Engineering Practice
Volume	115
DOIs	https://doi.org/10.1016/j.conengprac.2021.104909
State	Published - Oct 2021

Keywords

Energy regulator
Energy shaping
Lyapunov stability theory
Oscillatory motion
Poincaré–Bendixson criterion
Speed gradient method

Access to Document

10.1016/j.conengprac.2021.104909

Cite this

@article{0d6fa5e7dc7e44f6b7c02f793e57c8c2,

title = "Energy regulation for a torque-driven vertical inertia wheel pendulum",

abstract = "The energy regulation of a torque–driven vertical inertia wheel pendulum is addressed in this paper, which allows to achieve an oscillatory motion of the non actuated pendulum around its upright position through the proper motion of the actuated inertia wheel. The contribution of the present paper is an energy regulator capable of inducing oscillations of the pendulum with a user specified desired amplitude. More precisely, the proposed controller achieves locally asymptotically an oscillatory motion of pendulum around its upright position, in which its amplitude can be specified within an interval. Simulation and experimental results on a torque–driven inertia wheel pendulum illustrate the performance of the proposed controller.",

keywords = "Energy regulator, Energy shaping, Lyapunov stability theory, Oscillatory motion, Poincar{\'e}–Bendixson criterion, Speed gradient method",

author = "Jes{\'u}s Sandoval and Jer{\'o}nimo Moyr{\'o}n and Rafael Kelly and V{\'i}ctor Santib{\'a}{\~n}ez and Javier Moreno-Valenzuela",

note = "Publisher Copyright: {\textcopyright} 2021 Elsevier Ltd",

year = "2021",

month = oct,

doi = "10.1016/j.conengprac.2021.104909",

language = "Ingl{\'e}s",

volume = "115",

journal = "Control Engineering Practice",

issn = "0967-0661",

}

TY - JOUR

T1 - Energy regulation for a torque-driven vertical inertia wheel pendulum

AU - Sandoval, Jesús

AU - Moyrón, Jerónimo

AU - Kelly, Rafael

AU - Santibáñez, Víctor

AU - Moreno-Valenzuela, Javier

PY - 2021/10

Y1 - 2021/10

N2 - The energy regulation of a torque–driven vertical inertia wheel pendulum is addressed in this paper, which allows to achieve an oscillatory motion of the non actuated pendulum around its upright position through the proper motion of the actuated inertia wheel. The contribution of the present paper is an energy regulator capable of inducing oscillations of the pendulum with a user specified desired amplitude. More precisely, the proposed controller achieves locally asymptotically an oscillatory motion of pendulum around its upright position, in which its amplitude can be specified within an interval. Simulation and experimental results on a torque–driven inertia wheel pendulum illustrate the performance of the proposed controller.

AB - The energy regulation of a torque–driven vertical inertia wheel pendulum is addressed in this paper, which allows to achieve an oscillatory motion of the non actuated pendulum around its upright position through the proper motion of the actuated inertia wheel. The contribution of the present paper is an energy regulator capable of inducing oscillations of the pendulum with a user specified desired amplitude. More precisely, the proposed controller achieves locally asymptotically an oscillatory motion of pendulum around its upright position, in which its amplitude can be specified within an interval. Simulation and experimental results on a torque–driven inertia wheel pendulum illustrate the performance of the proposed controller.

KW - Energy regulator

KW - Energy shaping

KW - Lyapunov stability theory

KW - Oscillatory motion

KW - Poincaré–Bendixson criterion

KW - Speed gradient method

UR - http://www.scopus.com/inward/record.url?scp=85111494077&partnerID=8YFLogxK

U2 - 10.1016/j.conengprac.2021.104909

DO - 10.1016/j.conengprac.2021.104909

M3 - Artículo

AN - SCOPUS:85111494077

SN - 0967-0661

VL - 115

JO - Control Engineering Practice

JF - Control Engineering Practice

M1 - 104909

ER -

Energy regulation for a torque-driven vertical inertia wheel pendulum

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this