Stabilization of Rotational Modes for the Furuta Pendulum
Författare
Summary, in English
This paper deals with the construction and orbital stabilization of periodic solutions for a particular underactuated mechanical system with 2 degrees of freedom, the Furuta pendulum. It is shown that if a desired periodic motion is described by constraints imposed on the total energy of the system and on the value of the directly actuated variable, then this periodic motion can be constructed and stabilized by a particular feedback.
Avdelning/ar
Publiceringsår
2001
Språk
Engelska
Publikation/Tidskrift/Serie
Nonlinear Control Systems 2001
Dokumenttyp
Konferensbidrag
Förlag
Elsevier
Ämne
- Control Engineering
Nyckelord
- Furuta pendulum
- V-detectability
- stabilization of periodic orbit
Status
Published