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Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
Delgado, S.; Kotyczka, P. 
Title:
Energy Shaping for the Robust Stabilization of a Wheeled Inverted Pendulum 
Pages contribution:
pp. 93-98 
Abstract:
The paper deals with the robust energy-based stabilization of a wheeled inverted pendulum, which is an underactuated, unstable mechanical system subject to nonholonomic constraints. The equilibrium to be stabilized is characterized by the length of the driven path, the orientation, and the pitch angle. We use the method of Controlled Lagrangians which is applied in a systematic way, and is very intuitive, for it is physically motivated. After a detailed presentation of the model under nonholonom...    »
 
Keywords:
Underactuated mechanical systems; nonholonomic systems; passivity-based control 
Book / Congress title:
5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control 
Congress (additional information):
IFAC-PapersOnLine 
Volume:
Vol. 48 
Edition:
Issue 13 
Organization:
IFAC 
Date of congress:
04.-07.07.2015 
Date of publication:
10.11.2015 
Year:
2015 
Quarter:
3. Quartal 
Year / month:
2015-07 
Month:
Jul 
Covered by:
Scopus 
Reviewed:
ja 
Language:
en 
Semester:
SS 15 
TUM Institution:
Lehrstuhl für Regelungstechnik