Abstract
The swing-up control problem of the inertia wheel pendulum is revisited in this paper. As different from existing methods, purely impulsive control inputs are used for swing-up. A mathematical formulation of the problem indicates that swing-up can be achieved using impulsive inputs applied at two discrete time instants. Two different swing-up schemes are presented and validated using numerical simulations where the impulsive inputs are approximated by high-gain feedback. The results of numerical simulations establish a direct link between high wheel velocities during swing-up and control strategies that take the pendulum directly to the upright configuration. They also indicate that the time required for swing-up is much less than that reported in the literature.
Recommended Citation
N. Kant et al., "Swing-up of the Inertia Wheel Pendulum using Impulsive Torques," 2017 IEEE 56th Annual Conference on Decision and Control Cdc 2017, vol. 2018-January, pp. 5833 - 5838, Institute of Electrical and Electronics Engineers, Jun 2017.
The definitive version is available at https://doi.org/10.1109/CDC.2017.8264541
Department(s)
Mechanical and Aerospace Engineering
International Standard Book Number (ISBN)
978-150902873-3
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2025 Institute of Electrical and Electronics Engineers, All rights reserved.
Publication Date
28 Jun 2017
Comments
National Science Foundation, Grant 1462118