Published December 1, 2001
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Global stabilization of a flat underactuated system: the inertia wheel pendulum
- Creators
- Olfati-Saber, Reza
Chicago
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Abstract
Inertial Wheel Pendulum (IWP) is a planar pendulum with a revolving wheel (that has a uniform mass distribution) at the end. The pendulum is unactuated and the wheel is actuated. Our main result is to address global asymptotic stabilization of the inertia wheel pendulum around its up-right position. Simulation results are provided for parameters taken from a real-life model of the IWP.
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© Copyright 2001 IEEE. Reprinted with permission. Posted online: 2002-08-06Files
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- 5154
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- CaltechAUTHORS:OLFcdc01b
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2006-10-03Created from EPrint's datestamp field
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2021-11-08Created from EPrint's last_modified field