A dual model-free control of underactuated mechanical systems, application to the inertia wheel inverted pendulum
This paper deals with a new method allowing recent model-free control technique to deal with underactuated mechanical systems for stable limit cycles generation. A model-free controller is designed in order to track some parametrized reference trajectories. A second model-free controller is then des...
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| creator | Andary, S. Chemori, A. Benoit, M. Sallantin, J. |
| description | This paper deals with a new method allowing recent model-free control technique to deal with underactuated mechanical systems for stable limit cycles generation. A model-free controller is designed in order to track some parametrized reference trajectories. A second model-free controller is then designed using trajectories' parameters as control inputs in order to stabilize the internal dynamics. The proposed method is applied to a real underactuated mechanical system: the inertia wheel inverted pendulum. Numerical simulations as well as real-time experiments are presented showing the effectiveness of the proposed control method and its robustness toward external disturbances. |
| doi_str_mv | 10.1109/ACC.2012.6315492 |
| format | Conference Proceeding |
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Numerical simulations as well as real-time experiments are presented showing the effectiveness of the proposed control method and its robustness toward external disturbances.</description><identifier>ISSN: 0743-1619</identifier><identifier>ISBN: 9781457710957</identifier><identifier>ISBN: 1457710951</identifier><identifier>EISSN: 2378-5861</identifier><identifier>EISBN: 9781467321020</identifier><identifier>EISBN: 9781457710940</identifier><identifier>EISBN: 1467321028</identifier><identifier>EISBN: 1457710943</identifier><identifier>EISBN: 9781457710964</identifier><identifier>EISBN: 145771096X</identifier><identifier>DOI: 10.1109/ACC.2012.6315492</identifier><language>eng</language><publisher>IEEE</publisher><subject>Automatic ; Engineering Sciences ; Limit-cycles ; Mathematical model ; Mechanical systems ; Real-time systems ; Trajectory ; Wheels</subject><ispartof>2012 American Control Conference (ACC), 2012, p.1029-1034</ispartof><rights>Distributed under a Creative Commons Attribution 4.0 International License</rights><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><orcidid>0000-0001-9739-9473</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/6315492$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>230,309,310,780,784,789,790,885,2058,27925,54920</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/6315492$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttps://hal-lirmm.ccsd.cnrs.fr/lirmm-00723934$$DView record in HAL$$Hfree_for_read</backlink></links><search><creatorcontrib>Andary, S.</creatorcontrib><creatorcontrib>Chemori, A.</creatorcontrib><creatorcontrib>Benoit, M.</creatorcontrib><creatorcontrib>Sallantin, J.</creatorcontrib><title>A dual model-free control of underactuated mechanical systems, application to the inertia wheel inverted pendulum</title><title>2012 American Control Conference (ACC)</title><addtitle>ACC</addtitle><description>This paper deals with a new method allowing recent model-free control technique to deal with underactuated mechanical systems for stable limit cycles generation. 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Numerical simulations as well as real-time experiments are presented showing the effectiveness of the proposed control method and its robustness toward external disturbances.</description><subject>Automatic</subject><subject>Engineering Sciences</subject><subject>Limit-cycles</subject><subject>Mathematical model</subject><subject>Mechanical systems</subject><subject>Real-time systems</subject><subject>Trajectory</subject><subject>Wheels</subject><issn>0743-1619</issn><issn>2378-5861</issn><isbn>9781457710957</isbn><isbn>1457710951</isbn><isbn>9781467321020</isbn><isbn>9781457710940</isbn><isbn>1467321028</isbn><isbn>1457710943</isbn><isbn>9781457710964</isbn><isbn>145771096X</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2012</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo9kD1PwzAQhs2XRCndkVi8Q4q_HY9RBBSpEgvMkRuflSAnKYkD6r_HUium03Pv895wCN1RsqaUmKeiLNeMULZWnEph2BlaGZ1ToTRnlDByjhaM6zyTuaIXp0xqnapSX6IF0YJnVFFzjW6m6YsQaowiC_RdYDfbgLvBQcj8CIDroY_jEPDg8dw7GG0dZxvB4Q7qxvZtnfTpMEXopkds9_uQNrEdehwHHBvAbQ9jbC3-bQBCop-Eqb2H3s1h7m7RlbdhgtVpLtHny_NHucm2769vZbHNGiZ5zCyrjddaSwrAvGDgmFaeMrbTgjEpwKuUyDrPlbBWeyl3NSVCEbdL5HK-RA_Hu40N1X5sOzseqsG21abYVqEdu64iRDNuuPihyb4_2i0A_OunX_M_84VvJw</recordid><startdate>201206</startdate><enddate>201206</enddate><creator>Andary, S.</creator><creator>Chemori, A.</creator><creator>Benoit, M.</creator><creator>Sallantin, J.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope><scope>1XC</scope><scope>VOOES</scope><orcidid>https://orcid.org/0000-0001-9739-9473</orcidid></search><sort><creationdate>201206</creationdate><title>A dual model-free control of underactuated mechanical systems, application to the inertia wheel inverted pendulum</title><author>Andary, S. ; Chemori, A. ; Benoit, M. ; Sallantin, J.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-h253t-a2c9f77751ee2f42ed276f122b742254ef61ee5c8864aa7f55bc10460dba7fd83</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2012</creationdate><topic>Automatic</topic><topic>Engineering Sciences</topic><topic>Limit-cycles</topic><topic>Mathematical model</topic><topic>Mechanical systems</topic><topic>Real-time systems</topic><topic>Trajectory</topic><topic>Wheels</topic><toplevel>online_resources</toplevel><creatorcontrib>Andary, S.</creatorcontrib><creatorcontrib>Chemori, A.</creatorcontrib><creatorcontrib>Benoit, M.</creatorcontrib><creatorcontrib>Sallantin, J.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection><collection>Hyper Article en Ligne (HAL)</collection><collection>Hyper Article en Ligne (HAL) (Open Access)</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Andary, S.</au><au>Chemori, A.</au><au>Benoit, M.</au><au>Sallantin, J.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>A dual model-free control of underactuated mechanical systems, application to the inertia wheel inverted pendulum</atitle><btitle>2012 American Control Conference (ACC)</btitle><stitle>ACC</stitle><date>2012-06</date><risdate>2012</risdate><spage>1029</spage><epage>1034</epage><pages>1029-1034</pages><issn>0743-1619</issn><eissn>2378-5861</eissn><isbn>9781457710957</isbn><isbn>1457710951</isbn><eisbn>9781467321020</eisbn><eisbn>9781457710940</eisbn><eisbn>1467321028</eisbn><eisbn>1457710943</eisbn><eisbn>9781457710964</eisbn><eisbn>145771096X</eisbn><abstract>This paper deals with a new method allowing recent model-free control technique to deal with underactuated mechanical systems for stable limit cycles generation. 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| identifier | ISSN: 0743-1619 |
| ispartof | 2012 American Control Conference (ACC), 2012, p.1029-1034 |
| issn | 0743-1619 2378-5861 |
| language | eng |
| recordid | cdi_ieee_primary_6315492 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Automatic Engineering Sciences Limit-cycles Mathematical model Mechanical systems Real-time systems Trajectory Wheels |
| title | A dual model-free control of underactuated mechanical systems, application to the inertia wheel inverted pendulum |
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