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
N1 - Publisher Copyright:
© 2021 Elsevier Ltd
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 -