INVERSE MOTION METHOD FOR THE STABILIZATION OF UNDERACTUATED INERTIA WHEEL PENDULUM

Ancai Zhang, Jinhua She, Jianlong Qiu, Chaomin Luo, Chengdong Yang, and Fawaz Alsaadi

Keywords

Inertia wheel pendulum (IWP), underactuated mechanical systems, inverse motion, LaSalle invariance principle.

Abstract

This paper studies the stabilizing control problem for an underactuated mechanical system called inertia wheel pendulum (IWP). An inverse motion method is presented to solve this problem. First, the dynamic properties of the IWP system are analyzed. Based on the analysis results, a motion trajectory is constructed by using an inverse scheme in the time domain. Afterwards, a tracking control law is designed to make the IWP quickly track the constructed motion trajectory. This enables the stabilizing control objective of the IWP to be achieved along the trajectory. In order to validate the effectiveness of the presented method, a numerical example is presented finally.

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