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• W68716672 abstract "Control design for non-affine nonlinear systems is one of the most difficult problems due to the lack of mathematical tools. The Inertia Wheel Pendulum is a benchmark example of non-affine systems, resulting after coordinate transformations. The under actuation property, posing problems in exact feedback linearization makes design of the control law for this a challenging task. Partial feedback linearization reduces a part of the system linear but leaves the core system non-affine in nature. A novel nonlinear controller design fusing recently introduced Sliding Surface Control technique with Implicit Control of the nonlinear core is presented to tackle the issue. The task of the nonlinear controller is not only to stop the wheel but also to stabilize the pendulum at its unstable upright equilibrium. The design procedure is simpler and more intuitive than currently available sliding surfaces, integrator backstepping or energy shaping designs. Stability is analyzed by decomposing the system into a cascade of linear and nonlinear sub-systems. Advantages over existing controller designs are analyzed theoretically and verified using numerical simulations." @default.
• W68716672 created "2016-06-24" @default.
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• W68716672 date "2010-04-11" @default.
• W68716672 modified "2023-09-23" @default.
• W68716672 title "A novel nonlinear implicit sliding surface controller design for inertia wheel pendulum" @default.
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