@inproceedings{c345f59f1b9e4e3f91cf80abc9703dcb,
title = "A dual model-free control of underactuated mechanical systems, application to the inertia wheel inverted pendulum",
abstract = "This paper deals with a new method allowing recent model-free control technique to deal with underactuated mechanical systems for stable limit cycles generation. A model-free controller is designed in order to track some parametrized reference trajectories. A second model-free controller is then designed using trajectories' parameters as control inputs in order to stabilize the internal dynamics. The proposed method is applied to a real underactuated mechanical system: the inertia wheel inverted pendulum. Numerical simulations as well as real-time experiments are presented showing the effectiveness of the proposed control method and its robustness toward external disturbances.",
author = "S. Andary and A. Chemori and M. Benoit and J. Sallantin",
year = "2012",
month = jan,
day = "1",
doi = "10.1109/acc.2012.6315492",
language = "English",
isbn = "9781457710957",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1029--1034",
booktitle = "2012 American Control Conference, ACC 2012",
note = "2012 American Control Conference, ACC 2012 ; Conference date: 27-06-2012 Through 29-06-2012",
}