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An Output Feedback Position/Speed Regulator for a Torque–driven Inertia Wheel Pendulum

Jesús Sandoval*, Rafael Kelly, and Víctor Santibáñez
International Journal of Control, Automation, and Systems, vol. 19, no. 10, pp.3451-3463, 2021

Abstract : This paper presents a position/speed regulator for a torque–driven inertia wheel pendulum where only position measurements are available for feedback. Our contribution is to introduce a controller that does not need joint velocity measurements, and instead it uses the output of a linear filtering of weighted joint position errors to add damping. The proposed controller allows bringing the nonactuated pendulum rod towards its upright position, while the wheel spins asymptotically to a desired constant speed. A complete stability analysis based on Barbashin–Krasovskii’s theorem is presented together with an estimate of domain of attraction. Simulation results upon a torque–driven inertia wheel pendulum model illustrate the performance of the proposed controller.

Keyword : Barbashin–Krasovskii’s theorem, coordinates transformation, stability, underactuated mechanical systems.

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