Periodic Motions of the Pendubot via Virtual Holonomic Constraints: Theory and Experiments
Author
Summary, in English
This paper presents a new control strategy for an underactuated two-link robot, called the Pendubot. The goal is to create stable oscillations of the outer link of the Pendubot, which is not directly actuated. We exploit a recently proposed feedback control design strategy, based on motion planning via virtual holonomic constraints. This strategy is shown to be useful for design of regulators for achieving: stable oscillatory motions, a closed-loop-design-based swing-up, and propeller motions. The theoretical results are verified via successful experimental implementation.
Department/s
Publishing year
2008
Language
English
Pages
785-791
Publication/Series
Automatica
Volume
44
Issue
3
Links
Document type
Journal article
Publisher
Pergamon Press Ltd.
Topic
- Control Engineering
Keywords
- Orbital stabilization
- Nonlinear feedback control
- Pendubot
Status
Published
Project
- LU Robotics Laboratory
- Stable Oscillations in Nonlinear Systems 2006-2008
Research group
- LCCC
ISBN/ISSN/Other
- ISSN: 0005-1098