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A dual model-free control of underactuated mechanical systems, application to the inertia wheel inverted pendulum

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4 Author(s)
Andary, S. ; LIRMM, Univ. Montpellier 2, Montpellier, France ; Chemori, A. ; Benoit, M. ; Sallantin, J.

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.

Published in:

American Control Conference (ACC), 2012

Date of Conference:

27-29 June 2012