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Virtual-holonomic-constraints-based design of stable oscillations of furuta pendulum: Theory and experiments

Författare:
Publiceringsår: 2007
Språk: Engelska
Sidor: 827-832
Publikation/Tidskrift/Serie: IEEE TRANSACTIONS ON ROBOTICS
Volym: 23
Nummer: 4
Dokumenttyp: Artikel
Förlag: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

Sammanfattning

The Furuta pendulum consists of an arm rotating in the horizontal plane and a pendulum attached to its end. Rotation of the arm is controlled by a DC motor, while the pendulum is moving freely in the plane, orthogonal to the arm. Motivated, in particular, by possible applications for walking/running/balancing robots, we consider the Furuta pendulum as a system for which synchronized periodic motions of all the generalized coordinates are to be created and stabilized. The goal is to achieve, via appropriate feedback control action, orbitally exponentially stable oscillations of the pendulum of various shapes around its upright and downward positions, accompanied with oscillations of the arm. Our approach is based on the idea of stabilization of a particular virtual holonomic constraint imposed on the configuration coordinates, which has been theoretically developed recently. Here, we elaborate on the complete design procedure. The results are illustrated not only through numerical simulations but also through successful experimental tests.

Disputation

Nyckelord

  • Technology and Engineering
  • orbital
  • furuta pendulum
  • motion planning for periodic orbits
  • stability
  • virtual holonomic constraints

Övriga

Published
Yes
  • ISSN: 1552-3098

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