Stefan Fuchshumer, Kurt Schlacher, Marc Pölzer, Gunnar Grabmair,
"Flatness Based Control of the System "Ball on the Wheel""
, in Universität Stuttgart: Preprints Volume 1-3, 6th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2004), Seite(n) 227-232, 9-2004
Original Titel:
Flatness Based Control of the System "Ball on the Wheel"
Sprache des Titels:
Englisch
Original Buchtitel:
Preprints Volume 1-3, 6th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2004)
Original Kurzfassung:
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.
Sprache der Kurzfassung:
Englisch
Seitenreferenz:
227-232
Erscheinungsmonat:
9
Erscheinungsjahr:
2004
Anzahl der Seiten:
6
Notiz zur Publikation:
Fuchshumer S., Schlacher K., Pölzer M., Grabmair G.: Flatness Based Control of the System "Ball on the Wheel". In: CD-Proceedings 6th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2004), September 1-3 2004, Stuttgart, Germany, pp. 227-232, 2004.
Forschungs-