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Stable Periodic Motions of the Pendubot via Virtual Holonomic Constraints

Publiceringsår: 2006
Språk: Engelska
Dokumenttyp: Konferensbidrag


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.



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


3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control
Nagoya, Japan

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