| Autor: |
Enev Faculty of Automatics, Technical University of Sofia, 8 Kl. Ohridski Str., 1000 Sofia, Bulgaria |
| Jazyk: |
angličtina |
| Rok vydání: |
2014 |
| Předmět: |
|
| Zdroj: |
Cybernetics and Information Technologies, Vol 14, Iss 3, Pp 96-109 (2014) |
| Druh dokumentu: |
article |
| ISSN: |
1314-4081 |
| DOI: |
10.2478/cait-2014-0036 |
| Popis: |
In this paper, two feedback linearizing control laws for the stabilization of the Inertia Wheel Pendulum are derived: a full-state linearizing controller, generalizing the existing results in literature, with friction ignored in the description and an inputoutput linearizing control law, based on a physically motivated definition of the system output. Experiments are carried out on a laboratory test bed with significant friction in order to test and verify the suggested performance and the results are presented and discussed. The main point to be made as a consequence of the experimental evaluation is the fact that actually the asymptotic stabilization was not achieved, but rather a limit cycling behavior was observed for the full-state linearizing controller. The input-output linearizing controller was able to drive the pendulum to the origin, with the wheel speed settling at a finite value |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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