TY - GEN
T1 - On trajectory tracking control of the inertia wheel pendulum
AU - Moreno-Valenzuela, Javier
AU - Aguilar-Avelar, Carlos
AU - Puga-Guzman, Sergio
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/12/23
Y1 - 2014/12/23
N2 - This paper deals with motion control of the inertia wheel pendulum. Specifically, we address a trajectory tracking problem. The proposed control algorithm is derived from feedback linearization, with the output of the system defined as the tracking error between a desired reference trajectory and the angular position of the inverted pendulum. The explicit expressions of the internal dynamics and zero-dynamics are obtained, where can be observed that the stability of the internal dynamics depends on the desired trajectory. Experimental evaluation of the proposed controller is presented, where we show that the trajectory tracking is accomplished for both upward and downward pendulum position, while the wheel velocity remains into the actuator constraints.
AB - This paper deals with motion control of the inertia wheel pendulum. Specifically, we address a trajectory tracking problem. The proposed control algorithm is derived from feedback linearization, with the output of the system defined as the tracking error between a desired reference trajectory and the angular position of the inverted pendulum. The explicit expressions of the internal dynamics and zero-dynamics are obtained, where can be observed that the stability of the internal dynamics depends on the desired trajectory. Experimental evaluation of the proposed controller is presented, where we show that the trajectory tracking is accomplished for both upward and downward pendulum position, while the wheel velocity remains into the actuator constraints.
UR - http://www.scopus.com/inward/record.url?scp=84921324821&partnerID=8YFLogxK
U2 - 10.1109/CoDIT.2014.6996958
DO - 10.1109/CoDIT.2014.6996958
M3 - Contribución a la conferencia
AN - SCOPUS:84921324821
T3 - Proceedings - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014
SP - 572
EP - 577
BT - Proceedings - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014
A2 - Kacem, Imed
A2 - Laroche, Pierre
A2 - Roka, Zsuzsanna
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014
Y2 - 3 November 2014 through 5 November 2014
ER -