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Shaping Stable Periodic Motions of Inertia Wheel Pendulum: Theory And Experiment

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Author

Summary, in English

We consider an underactuated two-link robot called the inertia wheel pendulum. The system consists of a free planar rotational pendulum and a symmetric disk attached to its end, which is directly controlled by a DC-motor. The goal is to create stable oscillations of the pendulum, 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 orbitally exponentially stable oscillatory motions. The main contribution is a step-by-step procedure on how to achieve oscillations with pre-specified amplitude from a given range and an arbitrary independently chosen period. The theoretical results are verified via experiments with a real hardware setup.

Publishing year

2009

Language

English

Pages

548-556

Publication/Series

Asian Journal of Control

Volume

11

Issue

5

Document type

Journal article

Publisher

Chinese Automatic Control Society

Topic

  • Control Engineering

Keywords

  • underactuated systems
  • inertia wheel pendulum
  • nonlinear feedback control
  • Orbital stabilization
  • periodic motions

Status

Published

Project

  • LU Robotics Laboratory
  • Stable Oscillations in Nonlinear Systems 2009-2010

Research group

  • LCCC

ISBN/ISSN/Other

  • ISSN: 1934-6093