Nonlinear Recursive Design for the Underactuated IWP System

 

Weiping Guo and Diantong Liu*

 

School of Computer and Control Engineering, Yantai University Yantai City, People's Republic of China *diantong.liu@163.com

 

ABSTRACT

The nonlinear feedback cascade model of the underactuated IWP is obtained through a collocated partial feedback linearization and a global change of coordinates. A nonlinear controller is designed with the nonlinear recursive technology. The system stability is proved with Lyapunov theory. The simulation results show the system is globally asymptotically stable to the origin.

Keywords: Underactuated mechanical system, IWP, recursive design, nonlinear control.

 

DESCARGAR ARTÍCULO EN FORMATO PDF

 

Acknowledgment

This work is supported by a Project of Shandong Province Higher Educational Science and Technology Program (No.J13LN25) and the National Natural Science Foundation of China (61175086).

 

References

[1] M. Spong et al. "Nonlinear control of the reaction wheel pendulum", Automatica, vol. 37, no. 11, pp. 1845-1851, 2001.         [ Links ]

[2] R. Ortega et al. "Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment", IEEE Transactions on Automatic Control, vol. 47, no. 8, pp. 1218-1233, 2002.         [ Links ]

[3] C. Aguilar-Ibáñez et al. "Controlling the strongly damping inertia wheel pendulum via nested saturation functions", Computación y Sistemas, vol. 12, no. 4, pp. 436-449, 2009.         [ Links ]

[4] H. Ye, W. Gui, and Z.P. Jiang, "Backstepping design for cascade systems with relaxed assumption on Lyapunov functions", IET Control Theory and Applications, vol. 5, no. 5, pp. 700-712, 2011.         [ Links ]

[5] Y. Wang et al., "A recursive design method of stabilization controller for the inertia wheel pendulum", Proc. of the 6th IEEE Conf. on Industrial Electronics and Applications, June, 2011, pp. 1333-1336.         [ Links ]

[6] Y.F. Chen and A.C. Huang, "Controller design for a class of underactuated mechanical systems", IET Control Theory Application, vol. 6, no. 1, pp. 103-110, 2012.         [ Links ]

[7] D.T. Liu and W.P. Guo "Tracking Control for an Underactuated Two-Dimensional Overhead Crane", Journal of Applied Research and Technology, vol. 10, no. 4, pp. 597-606, 2012.         [ Links ]

[8] M.W. Spong, "Underactuated Mechanical Systems". Control Problems in Robotics and Automation, Springer Verlag, London, 1997.         [ Links ]

[9] R. Olfati-Saber, "Normal Forms for Underactuated Mechanical Systems with Symmetry". IEEE Transactions on Automatic Control, vol. 47, no. 2, pp. 305-308, 2002.         [ Links ]

[10] A. Medina-Santiago et al., "Neural Control System in Obstacle Avoidance in Mobile Robots Using Ultrasonic Sensors", Journal of Applied Research and Technology, vol. 12, no. 1, pp. 104-110, 2014.         [ Links ]

[11] R. Olfati-Saber, "Nonlinear Control of Underactuated Mechanical Systems with Application to Robotics and Aerospace Vehicles", Ph.D. thesis, Massachusetts Institute of Technology, 2001.         [ Links ]