Flatness based Control of the System "Ball on the Wheel"
Sprache des Vortragstitels:
6th IFAC Symposium on Nonlinear Control Systems (NOLCOS) 2004
Sprache des Tagungstitel:
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.