Stabilization of non-linear inertia wheel pendulum system using a new dynamic surface control based technique

Qaiser, N.; Iqbal, N.; Hussain, A.

Abstract

This paper considers the stabilization problem of inertia-wheel pendulum (IWP), a widely studied nonlinear mechanical system. The IWP is a classical example of flat under-actuated mechanical systems, for which the design of control laws becomes a challenging task owing to its underactuated nature posing problems in exact feedback linearization. A novel nonlinear controller design for the IWP is presented in this paper fusing recently introduced dynamic surface control with control Lyapunov function method. The proposed design procedure is shown to be simpler and more intuitive than existing designs. Stability of the controller and advantages over conventional energy shaping and backstepping controllers are analyzed theoretically and verified using numerical simulations.

Citation

Qaiser, N., Iqbal, N., & Hussain, A. (2006). Stabilization of non-linear inertia wheel pendulum system using a new dynamic surface control based technique. In 2006 IEEE International Conference on Engineering of Intelligent Systems. https://doi.org/10.1109/ICEIS.2006.1703194

• Conference Name: 2006 IEEE International Conference on Engineering of Intelligent Systems
• Conference Location: Islamabad, Pakistan
• Start Date: Apr 22, 2006
• End Date: Apr 23, 2006
• Online Publication Date: Sep 18, 2006
• Publication Date: 2006
• Deposit Date: Oct 16, 2019
• Publisher: Institute of Electrical and Electronics Engineers
• Book Title: 2006 IEEE International Conference on Engineering of Intelligent Systems
• ISBN: 1-4244-0456-8
• DOI: https://doi.org/10.1109/ICEIS.2006.1703194
• Keywords: control system analysis, control system synthesis, feedback, inertial systems , Lyapunov methods, nonlinear control systems, pendulums, position control, stability
• Public URL: http://researchrepository.napier.ac.uk/Output/1793648