Title :
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
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;
Conference_Titel :
Computer Communication and Informatics (ICCCI), 2013 International Conference on
Conference_Location :
Coimbatore
Print_ISBN :
978-1-4673-2906-4
DOI :
10.1109/ICCCI.2013.6466318
