Control of the Underactuated Inertia Wheel Inverted Pendulum for Stable Limit Cycle Generation

Andary, S.; Chemori, Ahmed; Krut, Sébastien

doi:10.1163/016918609x12529279062438

Cited by 33 publications

(39 citation statements)

References 10 publications

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“…Indeed, various examples of such systems have been reported in the robotics literature. Basic examples of underactuated systems are the inverted pendula, including the cart-pole inverted pendulum [10], Furuta inverted pendulum [11], the wheeled inverted pendulum [12] and the inertia wheel inverted pendulum [13]. Other examples include, among others, underactuated manipulators [14], gymnast robots [15] [16], underwater vehicles [17], some mobile robots [18] and some aerial vehicles, like the PVTOL (Planar Vertical Takeoff and Landing) [19].…”

Section: A Underactuated Roboticsmentioning

confidence: 99%

Control of complex robotic systems: Challenges, design and experiments

Chemori

2017

2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)

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Abstract-Control of robotic systems is a thoroughly investigated subject in the literature, but still an open problem because of the highly nonlinear behaviour of robots, the complexity of their dynamics, the under-actuation, the actuation redundancy, the singularities, kinematic constraints, real-time constraints and more challenges issues. This paper is dedicated to control of robotic systems. They are more and more complex, motivating the development of new sophisticated control schemes. The proposed control schemes are illustrated through different real experimental platforms in four chosen research fields in robotics: underactuated robotics, parallel robotics, humanoid robotics and underwater robotics.

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Section: A Underactuated Roboticsmentioning

confidence: 99%

Control of complex robotic systems: Challenges, design and experiments

Chemori

2017

2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)

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“…This system consists of an inverted pendulum equipped with a rotating wheel. The dynamical equations of this system are as follows (Andary et al, 2009):…”

Section: Practical Design Examplesmentioning

confidence: 99%

Robust time-varying output tracking control in the presence of actuator saturation

Binazadeh

Bahmani

2016

Transactions of the Institute of Measurement and Control

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This paper considers the problem of output tracking of a time-varying reference signal for a class of uncertain systems in the presence of actuator saturation. To achieve this capability, a new controller is proposed by robustifying the generalized composite nonlinear feedback control method with the integral sliding mode controller. Since the proposed controller may be saturated, a precise analysis is done to show its robust performance despite the presence of actuator saturation and model uncertainties. For this purpose, a theorem is given and proved that guarantees the robust output tracking via the proposed control law for three different cases of the saturation function and it is shown that even if the control signal is saturated, the proposed controller achieves output tracking of the time-varying reference signal. Also, in order to show the applicability of the proposed controller, it is applied on two practical systems, the XY-table and inertia wheel inverted pendulum. Computer simulations verify the theoretical results and also display the effective performance of the proposed controller.

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“…Different control schemes have been developed and implemented on this testbed (Fig. 5) [21], [22], [23]. Fig.…”

Section: ) Stabilization With External Disturbancesmentioning

confidence: 99%

External disturbance rejection in IDA-PBC controller for underactuated mechanical systems: From theory to real time experiments

Haddad

Chemori

Belghith

2014

2014 IEEE Conference on Control Applications (CCA)

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Proving the robustness, vis-à-vis external disturbances of IDA-PBC (Interconnexion Damping Assignment, Passive Based Control) controller for underactuated mechanical systems is addressed in this paper. Some sufficient stability conditions on matched and unmatched disturbances are provided. As illustration we propose to revisit the application of IDA-PBC controller to the Inertia Wheel Inverted Pendulum (IWIP) in the presence of external disturbances. Simulations and real-time experimental results are presented as validations of the theoretical results.

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Control of the Underactuated Inertia Wheel Inverted Pendulum for Stable Limit Cycle Generation

Cited by 33 publications

References 10 publications

Control of complex robotic systems: Challenges, design and experiments

Control of complex robotic systems: Challenges, design and experiments

Robust time-varying output tracking control in the presence of actuator saturation

External disturbance rejection in IDA-PBC controller for underactuated mechanical systems: From theory to real time experiments

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