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

In English 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.