Virtual-Holonomic-Constraints-Based Design of Stable Oscillations of Furuta Pendulum: Theory and Experiments
Author
Summary, in English
The Furuta pendulum consists of an arm rotating in the horizontal plane and a pendulum attached to its end. Rotation of the arm is controlled by a DC motor, while the pendulum is moving freely in the plane, orthogonal to the arm. Motivated, in particular, by possible applications for walking/running/balancing robots, we consider the Furuta pendulum as a system for which synchronized periodic motions of all the generalized coordinates are to be created and stabilized. The goal is to achieve, via appropriate feedback control action, orbitally exponentially stable oscillations of the pendulum of various shapes around its upright and downward positions, accompanied with oscillations of the arm. Our approach is based on the idea of stabilization of a particular virtual holonomic constraint imposed on the configuration coordinates, which has been theoretically developed recently. Here, we elaborate on the complete design procedure. The results are illustrated not only through numerical simulations but also through successful experimental tests.
Department/s
Publishing year
2007
Language
English
Pages
827-832
Publication/Series
IEEE Transactions on Robotics
Volume
23
Issue
4
Document type
Journal article
Publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
Topic
- Control Engineering
Keywords
- orbital
- furuta pendulum
- motion planning for periodic orbits
- stability
- virtual holonomic constraints
Status
Published
Project
- RobotLab LTH
ISBN/ISSN/Other
- ISSN: 1941-0468