Flatness Based Control of the System "Ball on the Wheel"

Stefan Fuchshumer; Kurt Schlacher; Marc Pölzer; Gunnar Grabmair

Flatness Based Control of the System "Ball on the Wheel"

Stefan Fuchshumer
, Kurt Schlacher
, Marc Pölzer
, Gunnar Grabmair

Institut für Regelungstechnik

Publikation: Beitrag in Buch/Bericht/Konferenzband › Konferenzbeitrag › Begutachtung

Abstract

This contribution deals with the trajectory planning and the trajectory tracking problem of the unstable, nonlinear, underactuated system "Ball on the Wheel" consisting of a ball balanced on a wheel driven by a dc motor. Besides the stabilization of the unstable equilibrium, the handling of the transitions between different steady states regarding the angular velocity of the wheel are of particular interest. By virtue of the observation that this system is flat with the generalized momentum of the ball qualifying as a flat output, the trajectory generation and the nonlinear control design is based on the theory of differential flatness.

Originalsprache	Englisch
Titel	Preprints Volume 1-3, 6th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2004)
Herausgeber*innen	Universität Stuttgart
Seiten	227-232
Seitenumfang	6
Publikationsstatus	Veröffentlicht - Sep. 2004

Wissenschaftszweige

101028 Mathematische Modellierung
202 Elektrotechnik, Elektronik, Informationstechnik
202003 Automatisierungstechnik
202017 Embedded Systems
202027 Mechatronik
202034 Regelungstechnik
203015 Mechatronik

Andere Dateien und Links

http://regpro.mechatronik.uni-linz.ac.at

Dieses zitieren

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AB - This contribution deals with the trajectory planning and the trajectory tracking problem of the unstable, nonlinear, underactuated system "Ball on the Wheel" consisting of a ball balanced on a wheel driven by a dc motor. Besides the stabilization of the unstable equilibrium, the handling of the transitions between different steady states regarding the angular velocity of the wheel are of particular interest. By virtue of the observation that this system is flat with the generalized momentum of the ball qualifying as a flat output, the trajectory generation and the nonlinear control design is based on the theory of differential flatness.

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