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.

• Type: Conference
• Year: 2008
• Where: IROS
• Authors: Sebastien Andary, Ahmed Chemori, Sébastien Krut
• Keywords: Control Approach, IROS 2008, Nonlinear Feedback Linearization, Robotics, Stable Limit Cycle