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Periodic motions of the Pendubot via virtual holonomic constraints: Theory and experiments

Publiceringsår: 2008
Språk: Engelska
Sidor: 785-791
Publikation/Tidskrift/Serie: Automatica
Volym: 44
Nummer: 3
Dokumenttyp: Artikel


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.



  • Technology and Engineering
  • Orbital stabilization
  • Nonlinear feedback control
  • Pendubot


  • LCCC
  • ISSN: 0005-1098

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