TY - GEN
T1 - Two-relay controller for real-time trajectory generation and its application to inverted orbital stabilization of inertia wheel pendulum
AU - Estrada, Antonio
AU - Aguilar, Luis T.
AU - Iriarte, Rafael
AU - Fridman, Leonid
PY - 2010
Y1 - 2010
N2 - A 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. As a first step towards the solution of the tracking control problem is the reference trajectory generation where we develop a reference model, based on the two-relay controller, to generate a set of desired trajectories for the inertia wheel pendulum. The 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. The well-known second order sliding mode controller is capable of making the pendulum move tracking the prescribed reference signals determined by the trajectory generator. Performance issues of the controller constructed are illustrated in a simulation study.
AB - A 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. As a first step towards the solution of the tracking control problem is the reference trajectory generation where we develop a reference model, based on the two-relay controller, to generate a set of desired trajectories for the inertia wheel pendulum. The 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. The well-known second order sliding mode controller is capable of making the pendulum move tracking the prescribed reference signals determined by the trajectory generator. Performance issues of the controller constructed are illustrated in a simulation study.
UR - http://www.scopus.com/inward/record.url?scp=77956562128&partnerID=8YFLogxK
U2 - 10.1109/VSS.2010.5544724
DO - 10.1109/VSS.2010.5544724
M3 - Contribución a la conferencia
AN - SCOPUS:77956562128
SN - 9781424458318
T3 - Proceedings of the 2010 11th International Workshop on Variable Structure Systems, VSS 2010
SP - 458
EP - 462
BT - Proceedings of the 2010 11th International Workshop on Variable Structure Systems, VSS 2010
T2 - 2010 11th International Workshop on Variable Structure Systems, VSS 2010
Y2 - 26 June 2010 through 28 June 2010
ER -