Generating oscillations in inertia wheel pendulum via two-relay controller
2012 (English)In: International Journal of Robust and Nonlinear Control, ISSN 1049-8923, E-ISSN 1099-1239, Vol. 22, no 3, 318-330 p.Article in journal (Refereed) Published
The problem of generating oscillations of the inertia wheel pendulum is considered. We combine exact feedback linearization with two-relay controller, tuned using frequency-domain tools, such as computing the locus of a perturbed relay system. Explicit expressions for the parameters of the controller in terms of the desired frequency and amplitude are derived. Sufficient conditions for orbital asymptotic stability of the closed-loop system are obtained with the help of the Poincare map. Performance is validated via experiments. The approach can be easily applied for a minimum phase system, provided the behavior of the states of the zero dynamics is of no concern. Copyright (C) 2011 John Wiley & Sons, Ltd.
Place, publisher, year, edition, pages
Malden: Wiley-Blackwell, 2012. Vol. 22, no 3, 318-330 p.
variable structure controller, inertia wheel pendulum, periodic motion, Poincare map
Robotics Control Engineering
IdentifiersURN: urn:nbn:se:umu:diva-52648DOI: 10.1002/rnc.1696ISI: 000299555800005OAI: oai:DiVA.org:umu-52648DiVA: diva2:506847