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Virtual-Constraints-Based Design of Stable Oscillations of Furuta Pendulum: Theory and Experiments

Författare:
Publiceringsår: 2006
Språk: Engelska
Dokumenttyp: Konferensbidrag

Sammanfattning

We consider a special benchmark mechanical

system with two degrees of freedom and underactuation degree

one. Furuta Pendulum consists of an arm, rotating in the

horizontal plane, and a pendulum, attached to the end of

the arm freely and moving in the vertical plane. Our goal

is to create and partially shape stable oscillations of the

pendulum. The approach is based on the idea of stabilization

of a particular virtual holonomic constraint, imposed on the

configuration coordinates. We describe here a step-by-step

design procedure in details. Our approach is illustrated through

successful experimental tests.

Nyckelord

  • Control Engineering

Övriga

45th IEEE Conference on Decision and Control, 2006
Published

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