{"title":"欠驱动机械系统的内模控制,在惯性轮倒立摆中的应用","authors":"Ines Mahmoud, Imen Saidi","doi":"10.1109/IC_ASET53395.2022.9765891","DOIUrl":null,"url":null,"abstract":"In this paper, an application of internal model control (IMC) on an underactuated system who is the inertia wheel inverted pendulum that exhibits unstable dynamics. The structure of the IMC has two nested controllers. The first controller ensures the stabilization of the system. The second controller ensures the tracking of reference trajectories. The simulation results are very satisfactory in terms of stability, accuracy and speed. The obtained controller is simple, is easy to implement in real time and presents good control and robustness performances.","PeriodicalId":6874,"journal":{"name":"2022 5th International Conference on Advanced Systems and Emergent Technologies (IC_ASET)","volume":"369 1","pages":"472-476"},"PeriodicalIF":0.0000,"publicationDate":"2022-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Internal Model Control of underactuated mechanical systems, application to the inertia wheel inverted pendulum\",\"authors\":\"Ines Mahmoud, Imen Saidi\",\"doi\":\"10.1109/IC_ASET53395.2022.9765891\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, an application of internal model control (IMC) on an underactuated system who is the inertia wheel inverted pendulum that exhibits unstable dynamics. The structure of the IMC has two nested controllers. The first controller ensures the stabilization of the system. The second controller ensures the tracking of reference trajectories. The simulation results are very satisfactory in terms of stability, accuracy and speed. The obtained controller is simple, is easy to implement in real time and presents good control and robustness performances.\",\"PeriodicalId\":6874,\"journal\":{\"name\":\"2022 5th International Conference on Advanced Systems and Emergent Technologies (IC_ASET)\",\"volume\":\"369 1\",\"pages\":\"472-476\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-03-22\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 5th International Conference on Advanced Systems and Emergent Technologies (IC_ASET)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IC_ASET53395.2022.9765891\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 5th International Conference on Advanced Systems and Emergent Technologies (IC_ASET)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IC_ASET53395.2022.9765891","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Internal Model Control of underactuated mechanical systems, application to the inertia wheel inverted pendulum
In this paper, an application of internal model control (IMC) on an underactuated system who is the inertia wheel inverted pendulum that exhibits unstable dynamics. The structure of the IMC has two nested controllers. The first controller ensures the stabilization of the system. The second controller ensures the tracking of reference trajectories. The simulation results are very satisfactory in terms of stability, accuracy and speed. The obtained controller is simple, is easy to implement in real time and presents good control and robustness performances.