Periodic Motions of the Pendubot via Virtual Holonomic Constraints: Theory and Experiments

Summary, in English

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. The theoretical results are verified via successful experimental implementation.

• Författare: Leonid Freidovich; Anders Robertsson; Anton Shiriaev; Rolf Johansson
• Avdelning/ar: Institutionen för reglerteknik
• Publiceringsår: 2008
• Språk: Engelska
• Sidor: 785-791
• Publikation/Tidskrift/Serie: Automatica
• Volym: 44
• Issue: 3
• Länkar: http://dx.doi.org/10.1016/j.automatica.2007.07.011
• Dokumenttyp: Artikel i tidskrift
• Förlag: Pergamon Press Ltd.
• Ämne: Control Engineering
• Nyckelord: Orbital stabilization; Nonlinear feedback control; Pendubot
• Aktiv: Published
• Projekt: LU Robotics Laboratory; Stable Oscillations in Nonlinear Systems 2006-2008
• Forskningsgrupp: LCCC
• ISBN/ISSN/Övrigt: ISSN: 0005-1098