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. https://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 | ||||||
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| 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 | ||||||
| DOI: | 10.1109/.2001.980449 | ||||||
| Record Number: | CaltechAUTHORS:OLFcdc01b | ||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:OLFcdc01b | ||||||
| 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: | 08 Nov 2021 20:23 |
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