Nonlinear stabilizing control of underactuated inertia wheel pendulum based on coordinate transformation and time-reverse strategy

DOI10.1007/S11071-016-2658-8MaRDI QIDQ333183zbMATH OpenOpenAlexFDO

Authors Ancai Zhang, Chengdong Yang, Shuli Gong, Jianlong Qiu

Publication date 9 November 2016

Published in Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11071-016-2658-8

zbMATH Keywords

nonlinear controlcoordinate transformationunderactuated mechanical systeminertia wheel pendulum (IWP)time-reverse

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Stability of control systems (93D99)

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Cites work

• A unified solution to swing-up control for n-link planar robot with single passive joint based on virtual composite links and passivity
• An increased coupling-based control method for underactuated crane systems: theoretical design and experimental implementation
• Control of underactuated mechanical systems with servo-constraints
• Motion planning and tracking control for an acrobot based on a rewinding approach
• Nonlinear control of the reaction wheel pendulum
• Partially saturated nonlinear control for gantry cranes with hardware experiments
• Periodic motion planning and nonlinear \(\mathcal H_{\infty }\) tracking control of a 3-DOF underactuated helicopter
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• Stabilization of nonlinear systems via forwarding mod {L/sub g/V}

Cited in

(4)

• Robust adaptive finite-time attitude tracking control of a 3D pendulum with external disturbance: numerical simulations and hardware experiments
• Model-free control of the inertia wheel inverted pendulum with real-time experiments
• Estimation of and compensation for unknown input nonlinearities using equivalent-input-disturbance approach
• Nonlinear stabilizing control for a class of underactuated mechanical systems with multi degree of freedoms

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