Stable Periodic Motions of Inertia Wheel Pendulum via Virtual Holonomic Constraints
Författare
Summary, in English
We present a new control strategy for an underactuated two-link robot, called inertia wheel pendulum. The system consists of a free planar rotational pendulum and a symmetric disk, attached to its end and 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 recipe on how to achieve oscillations with pre-specified amplitude from a given range and an arbitrary independently chosen period.
Avdelning/ar
Publiceringsår
2007
Språk
Engelska
Dokumenttyp
Konferensbidrag
Ämne
- Control Engineering
Nyckelord
- Orbital stabilization
- Nonlinear feedback control
- Inertia wheel pendulum
Conference name
European Control Conference, 2007
Conference date
2007-07-02 - 2007-07-05
Conference place
Kos, Greece
Status
Published
Projekt
- Stable Oscillations in Nonlinear Systems 2006-2008
- LU Robotics Laboratory