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.
| Original language | English |
|---|---|
| Title of host publication | Preprints Volume 1-3, 6th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2004) |
| Editors | Universität Stuttgart |
| Pages | 227-232 |
| Number of pages | 6 |
| Publication status | Published - Sept 2004 |
Fields of science
- 101028 Mathematical modelling
- 202 Electrical Engineering, Electronics, Information Engineering
- 202003 Automation
- 202017 Embedded systems
- 202027 Mechatronics
- 202034 Control engineering
- 203015 Mechatronics
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