The following information was submitted:
Transactions: WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL
Transactions ID Number: 89-908
Full Name: Nadeem Qaiser
Position: Doctor (Researcher)
Age: ON
Sex: Male
Address: 1531, I-10/2 Islamabad
Country: PAKISTAN
Tel: 0092514445887
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E-mail address: nadeem.qaiser@gmail.com
Other E-mails: nadeemqaiser@hotmail.com
Title of the Paper: Stabilization of an Inertia Wheel Pendulum using an Implicit controller design
Authors as they appear in the Paper: Nadeem Qaiser, Saleh Bin Tariq, Naveed Haq, Tariq Aziz
Email addresses of all the authors: nadeem.qaiser@gmail.com,tariqazizkhan@hotmail.com,salehtariq@gmail.com,naveedhouse@hotmail.com
Number of paper pages: 10
Abstract: Control design for an underactuated system is complicated, as feedback linearization cannot be applied directly. This issue can be addressed by using partial feedback linearization with appropriate coordinate transformations. Unfortunately, this often results in leaving the core system non-affine. Design of a control law for a non-affine system is quiet difficult due to lack of mathematical tools needed. The Inertia Wheel Pendulum is a benchmark example of such non-affine systems. The under actuation property, posing problems in exact feedback linearization makes design of the control law for this a challenging task. Although Partial feedback linearization reduces a part of the system to 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 in such a way that the inertial wheel stops rotating. 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. Stability and advantages over existing controller designs are analyzed theoretically and verified using numerical simulations.
Keywords: Inertia Wheel Pendulum, Implicit control, Multiple Sliding Surfaces, Underactuated Mechanical Systems, Backstepping
EXTENSION of the file: .doc
Special (Invited) Session: A Novel Nonlinear Implicit Sliding Surface Controller Design for Inertia Wheel Pendulum
Organizer of the Session: 637-147
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