TY - GEN
T1 - Tracking control for inverted orbital stabilization of inertia wheel pendulum - Trajectory generation, stability analysis, and experiments
AU - Juárez, Victor
AU - Aguilar, Luis T.
AU - Iriarte, Rafael
PY - 2011
Y1 - 2011
N2 - A second order sliding mode control is developed to solve the tracking control problem for an inertia wheel pendulum. The desired trajectory is centered at the upright position where the open-loop system becomes a non-minimum-phase system. We have recently proved that a two relay controller produces oscillations at the scalar output of an underactuated system where the desired amplitude and frequency are reached by choosing its gains. In this paper we go much further and develop a reference model, based on two-relay controller, to generate a set of desired trajectories for the inertia wheel pendulumallowing us to design a robust tracking controller. Performance issues of the constructed controller are illustrated in an experimental study.
AB - A second order sliding mode control is developed to solve the tracking control problem for an inertia wheel pendulum. The desired trajectory is centered at the upright position where the open-loop system becomes a non-minimum-phase system. We have recently proved that a two relay controller produces oscillations at the scalar output of an underactuated system where the desired amplitude and frequency are reached by choosing its gains. In this paper we go much further and develop a reference model, based on two-relay controller, to generate a set of desired trajectories for the inertia wheel pendulumallowing us to design a robust tracking controller. Performance issues of the constructed controller are illustrated in an experimental study.
UR - http://www.scopus.com/inward/record.url?scp=84855789427&partnerID=8YFLogxK
U2 - 10.1109/ICEEE.2011.6106680
DO - 10.1109/ICEEE.2011.6106680
M3 - Contribución a la conferencia
AN - SCOPUS:84855789427
SN - 9781457710117
T3 - CCE 2011 - 2011 8th International Conference on Electrical Engineering, Computing Science and Automatic Control, Program and Abstract Book
BT - CCE 2011 - 2011 8th International Conference on Electrical Engineering, Computing Science and Automatic Control, Program and Abstract Book
T2 - 2011 8th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2011
Y2 - 26 October 2011 through 28 October 2011
ER -