Stable Periodic Motions of the Pendubot via Virtual Holonomic Constraints
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.
- Control Engineering
- Nonlinear feedback control
- Orbital stabilization
3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2006