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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.

Publishing year

2008

Language

English

Pages

785-791

Publication/Series

Automatica

Volume

44

Issue

3

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