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Stable Periodic Motions of the Pendubot via Virtual Holonomic Constraints

In English

Författare

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.

Publiceringsår

2006

Språk

Engelska

Publikation/Tidskrift/Serie

Proc. 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control

Dokumenttyp

Konferensbidrag

Ämne

  • Control Engineering

Nyckelord

  • Nonlinear feedback control
  • Orbital stabilization
  • Pendubot

Conference name

3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2006

Conference date

2006-07-19 - 2006-07-21

Conference place

Nagoya, Japan

Status

Published

Projekt

  • LU Robotics Laboratory
  • Stable Oscillations in Nonlinear Systems 2006-2008