Stabilization of the Inertia Wheel Pendulum by Time-Delayed State Feedback

Through coordinate changes and an initial control design, the inertia wheel pendulum is transformed into a feedforward-type system with higher order nonlinear terms, and then a controller is suggested to attenuate the higher order terms. Partial state variables in the controller admit moderate small...

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Bibliographic Details
Main Authors: Ye Huawen, Peng Sendi, Gui Weihua, Yang Chunhua
Format: Conference Proceeding
Language:chi ; eng
Subjects:
Asymptotic stability
Centralized control
Control design
Control systems
Delay effects
Design engineering
Inertia wheel pendulum
Information science
Nonlinear control systems
Saturated control
Stabilization
State feedback
Time-delayed state feedback
Wheels
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Description
Summary:Through coordinate changes and an initial control design, the inertia wheel pendulum is transformed into a feedforward-type system with higher order nonlinear terms, and then a controller is suggested to attenuate the higher order terms. Partial state variables in the controller admit moderate small saturation restriction and time delay. The global asymptotic stability of the closed-loop system is proven by showing that it has no finite escape time and converges to an asymptotically stable dynamics in finite time. Simulation results show that the proposed design is effective.
ISSN:1934-1768
DOI:10.1109/CHICC.2006.4346957