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IROS
2008
IEEE

Stable limit cycle generation for underactuated mechanical systems, application: Inertia wheel inverted pendulum

10 years 3 months ago
Stable limit cycle generation for underactuated mechanical systems, application: Inertia wheel inverted pendulum
— This paper deals with a control approach dedicated to stable limit cycle generation for underactuated mechanical systems. The proposed approach is based on partial nonlinear feedback linearization and dynamic control for optimal periodic reference trajectories tracking. Simulation results and experiments show the efficiency of the proposed approach.
Sebastien Andary, Ahmed Chemori, Sébastien
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Sebastien Andary, Ahmed Chemori, Sébastien Krut
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