TY - JOUR
T1 - A speed regulator for a torque-driven inertia wheel pendulum
AU - Sandoval, Jesús
AU - Kelly, Rafael
AU - Santibáñez, Víctor
AU - Moreno-Valenzuela, Javier
N1 - Publisher Copyright:
Copyright © 2020 The Authors. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0)
PY - 2020
Y1 - 2020
N2 - In this paper, we present a speed regulator for a torque-driven inertia wheel pendulum. The proposed controller allows bringing the nonactuated pendulum towards its upright position, while the wheel moves asymptotically at desired constant speed, recovering the popular position regulation control objective for both pendulum and wheel when the desired wheel speed is zero. Also, a complete stability analysis based on the Lyapunov theory and the Barbashin-Krasovskii theorem is presented. Simulation results upon a torque-driven inertia wheel pendulum model illustrate the performance of the proposed controller.
AB - In this paper, we present a speed regulator for a torque-driven inertia wheel pendulum. The proposed controller allows bringing the nonactuated pendulum towards its upright position, while the wheel moves asymptotically at desired constant speed, recovering the popular position regulation control objective for both pendulum and wheel when the desired wheel speed is zero. Also, a complete stability analysis based on the Lyapunov theory and the Barbashin-Krasovskii theorem is presented. Simulation results upon a torque-driven inertia wheel pendulum model illustrate the performance of the proposed controller.
KW - Barbashin-Krasovskii's theorem
KW - Coordinates transformation
KW - Stability
KW - Underactuated mechanical systems
UR - http://www.scopus.com/inward/record.url?scp=85107584708&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2020.12.1749
DO - 10.1016/j.ifacol.2020.12.1749
M3 - Artículo de la conferencia
AN - SCOPUS:85107584708
SN - 1474-6670
VL - 53
SP - 6293
EP - 6298
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
T2 - 21st IFAC World Congress 2020
Y2 - 12 July 2020 through 17 July 2020
ER -