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• W1599683597 abstract "A constructive approach to design asymptotically stabilizing control laws for an inertia-wheel pendulum system is presented in this paper. The control scheme is based on immersion and invariance(I&I) which is derived starting from the selection of a target dynamical system. The process that the off-the-manifold variable converges to the origin in finite time has been strictly ensured by the proposed stabilizing control laws. A detailed stability proof and analysis is provided for the resulting closed-loop system, and the computation for the finite time is also shown as an important contribution of this work. Moreover, a saturation function is employed to update the control laws, which is effective for reducing the manifold chattering. The validity of the obtained control method is illustrated via various simulations." @default.
• W1599683597 created "2016-06-24" @default.
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• W1599683597 date "2015-07-01" @default.
• W1599683597 modified "2023-09-25" @default.
• W1599683597 title "Finite-time attractivity of manifold based immersion and invariance control for inertia-wheel pendulum system" @default.
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• W1599683597 doi "https://doi.org/10.1109/chicc.2015.7259685" @default.
• W1599683597 hasPublicationYear "2015" @default.
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