Virtual-Holonomic-Constraints-Based Design of Stable Oscillations of Furuta Pendulum: Theory and Experiments
Författare
Summary, in English
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.
Avdelning/ar
Publiceringsår
2007
Språk
Engelska
Sidor
827-832
Publikation/Tidskrift/Serie
IEEE Transactions on Robotics
Volym
23
Issue
4
Dokumenttyp
Artikel i tidskrift
Förlag
IEEE - Institute of Electrical and Electronics Engineers Inc.
Ämne
- Control Engineering
Nyckelord
- orbital
- furuta pendulum
- motion planning for periodic orbits
- stability
- virtual holonomic constraints
Status
Published
Projekt
- RobotLab LTH
ISBN/ISSN/Övrigt
- ISSN: 1941-0468