Control of underactuated systems : a monocycle example

A.G. Jager, de

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A nonlinear model of a monocycle, describing its movements in 3D space, is derived, assuming the monocycle to run on a straight track, a rail or a cable. The system is underactuated, unstable, uncertain, and acted upon by disturbances. For the linearized model a controller aiming at stabilization, tracking control, and disturbance rejection, all in the face of uncertainty, is designed. The performance of the controller for the nonlinear system is analyzed, the suitability of the uncertainty model and the design tools are assessed. Some modifications for the setup of the generalized plant and the design are suggested
Original languageEnglish
Title of host publicationMotion control MC '98 : a proceedings volume from the IFAC workshop, Grenoble, France, 21-23 September 1998
EditorsD. Georges, O. Sename, L. Dugard
Place of PublicationOxford
ISBN (Print)0-08-043044-9
Publication statusPublished - 1998

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