Simulation study demonstrates simultaneous upright stabilization and wheel speed regulation in an inertia wheel pendulum, indicating robust performance for underactuated robotics.
In this paper, we present a speed regulator for a torque-driven inertia wheel pendulum. The proposed controller allows bringing the nonactuated pendulum towards its upright position, while the wheel moves asymptotically at desired constant speed, recovering the popular position regulation control objective for both pendulum and wheel when the desired wheel speed is zero. Also, a complete stability analysis based on the Lyapunov theory and the Barbashin-Krasovskii theorem is presented. Simulation results upon a torque-driven inertia wheel pendulum model illustrate the performance of the proposed controller.
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Sandoval et al. (2020) studied this question.
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