Control of underactuated systems : a monocycle example

A.G. Jager, de

Control of underactuated systems : a monocycle example

A.G. Jager, de

Control Systems Technology

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic

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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

Originele taal-2	Engels
Titel	Motion control MC '98 : a proceedings volume from the IFAC workshop, Grenoble, France, 21-23 September 1998
Redacteuren	D. Georges, O. Sename, L. Dugard
Plaats van productie	Oxford
Uitgeverij	Pergamon
Pagina's	61-66
ISBN van geprinte versie	0-08-043044-9
Status	Gepubliceerd - 1998

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abstract = "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",

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N2 - 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

AB - 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

M3 - Conference contribution

SN - 0-08-043044-9

SP - 61

EP - 66

BT - Motion control MC '98 : a proceedings volume from the IFAC workshop, Grenoble, France, 21-23 September 1998

A2 - Georges, D.

A2 - Sename, O.

A2 - Dugard, L.

PB - Pergamon

CY - Oxford

ER -

Control of underactuated systems : a monocycle example

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