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Global stabilization of a flat underactuated system: the inertia wheel pendulum

Olfati-Saber, Reza (2001) Global stabilization of a flat underactuated system: the inertia wheel pendulum. In: Proceedings of the 40th IEEE Conference on Decision and Control, December 4-7, 2001, Hyatt Regency Grand Cypress, Orlando, Florida, USA. Vol.4. IEEE , Los Alamitos, CA, pp. 3764-3765. ISBN 0-7803-7061-9 http://resolver.caltech.edu/CaltechAUTHORS:OLFcdc01b

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Abstract

Inertial Wheel Pendulum (IWP) is a planar pendulum with a revolving wheel (that has a uniform mass distribution) at the end. The pendulum is unactuated and the wheel is actuated. Our main result is to address global asymptotic stabilization of the inertia wheel pendulum around its up-right position. Simulation results are provided for parameters taken from a real-life model of the IWP.


Item Type:Book Section
Additional Information:© Copyright 2001 IEEE. Reprinted with permission. Posted online: 2002-08-06
Subject Keywords:flat underactuated system global stabilization; inertia wheel pendulum; planar pendulum; real-life model parameters simulation
Record Number:CaltechAUTHORS:OLFcdc01b
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:OLFcdc01b
Alternative URL:http://dx.doi.org/10.1109/.2001.980449
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:5154
Collection:CaltechAUTHORS
Deposited By: Archive Administrator
Deposited On:03 Oct 2006
Last Modified:26 Dec 2012 09:04

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