Finite-time attractivity of manifold based immersion and invariance control for inertia-wheel pendulum system

A constructive approach to design asymptotically stabilizing control laws for an inertia-wheel pendulum system is presented in this paper. The control scheme is based on immersion and invariance(I&I) which is derived starting from the selection of a target dynamical system. The process that the...

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Bibliographic Details
Main Authors: Xu, Zhang, Xianlin, Huang, Hongqian, Lu
Format: Conference Proceeding
Language:English
Subjects:
Asymptotic properties
Closed loop systems
Control systems
Dynamical systems
Dynamics
Feedback Form
Finite Time
Immersion
Immersion and Invariance
Manifolds
Mathematical analysis
Mathematical models
Nonlinear dynamical systems
Pendulums
Saturation Function
Stability analysis
Trajectory
Underactuated Mechanical Systems
Wheels
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Summary:A constructive approach to design asymptotically stabilizing control laws for an inertia-wheel pendulum system is presented in this paper. The control scheme is based on immersion and invariance(I&I) which is derived starting from the selection of a target dynamical system. The process that the off-the-manifold variable converges to the origin in finite time has been strictly ensured by the proposed stabilizing control laws. A detailed stability proof and analysis is provided for the resulting closed-loop system, and the computation for the finite time is also shown as an important contribution of this work. Moreover, a saturation function is employed to update the control laws, which is effective for reducing the manifold chattering. The validity of the obtained control method is illustrated via various simulations.
ISSN:2161-2927
1934-1768
DOI:10.1109/ChiCC.2015.7259685