Periodic motions of the Pendubot via virtual holonomic constraints: Theory and experiments
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.
- Control Engineering
- Orbital stabilization
- Nonlinear feedback control
- ISSN: 0005-1098