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Stabilization of Rotational Modes for the Furuta Pendulum

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Author

Summary, in English

This paper deals with the construction and orbital stabilization of periodic solutions for a particular underactuated mechanical system with 2 degrees of freedom, the Furuta pendulum. It is shown that if a desired periodic motion is described by constraints imposed on the total energy of the system and on the value of the directly actuated variable, then this periodic motion can be constructed and stabilized by a particular feedback.

Publishing year

2001

Language

English

Publication/Series

Nonlinear Control Systems 2001

Document type

Conference paper

Publisher

Elsevier

Topic

  • Control Engineering

Keywords

  • Furuta pendulum
  • V-detectability
  • stabilization of periodic orbit

Status

Published