Global stabilization of a flat underactuated inertia wheel: A block backstepping approach

Author

Rudra, S. ; Barai, R.K. ; Maitra, Madhubanti ; Mandal, Durbadal ; Ghosh, Sudip ; Dam, S. ; Bhattacharya, Pallab ; Dutta, Arin

Author_Institution

Electr. Eng. Dept., Jadavpur Univ., Kolkata, India

fYear

2013

fDate

4-6 Jan. 2013

Firstpage

1

Lastpage

4

Abstract

This paper presents the formulation of a novel block-backstepping based control algorithm to address the global stabilization problem of a flat underactuated inertia wheel system. The ideas behind the method are as follows. At first, state model of the inertia wheel system has been converted into block-strict feedback form. Then the control Lyapunov function has been designed for each cascaded dynamic block to derive the expression of the control input for the overall nonlinear system. The overall asymptotic stability of the inertia wheel system has been analyzed using Lyapunov Stability Criteria. Finally, the effectiveness of the proposed control algorithm has been verified in the simulation environment.

Keywords

Lyapunov methods; asymptotic stability; cascade control; control system synthesis; nonlinear control systems; stability criteria; wheels; Lyapunov stability criteria; asymptotic stability; block-backstepping based control algorithm; block-strict feedback form; cascaded dynamic block; control Lyapunov function design; control input; flat underactuated inertia wheel system; global stabilization problem; nonlinear system; Algorithm design and analysis; Backstepping; Equations; Mathematical model; Mechanical systems; Nonlinear systems; Wheels; Lyapunov Stability; Underactuated system; block backstepping control; inertia wheel system;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Communication and Informatics (ICCCI), 2013 International Conference on

Conference_Location

Coimbatore

Print_ISBN

978-1-4673-2906-4

Type

conf

DOI

10.1109/ICCCI.2013.6466318

Filename

6466318