A Speed Regulator for a Torque-Driven Inertia Wheel Pendulum by Bounded Torque

Resumen: A speed regulator for the inertia wheel pendulum has been reported recently in the literature based on an alternative energy shaping and damping injection approach. This controller achieves that the wheel rotates at a small constant speed and it drives the pendulum to its upward position. In the present paper, we are interested in enhancing the control system for small desired constant wheel speed by the practical capability of maintaining the computed torque input inside prescribed limits. The perfomance of the proposed controller is illustrated via simulations, which have been compared with those reported in the literature.

¿Cómo citar?

Jesus Sandoval, Rafael Kelly & Victor Santibanez. A Speed Regulator for a Torque-Driven Inertia Wheel Pendulum by Bounded Torque. Memorias del Congreso Nacional de Control Automático, pp. 1-6, 2020.

Palabras clave

Underactuated mechanical system, bounded control, Lyapunov theory

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