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Stable Periodic Motions of Inertia Wheel Pendulum via Virtual Holonomic Constraints

In English

Författare

Summary, in English

We present a new control strategy for an underactuated two-link robot, called inertia wheel pendulum. The system consists of a free planar rotational pendulum and a symmetric disk, attached to its end and directly controlled by a DC-motor. The goal is to create stable oscillations of the pendulum, 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 orbitally exponentially stable oscillatory motions. The main contribution is a step-by-step recipe on how to achieve oscillations with pre-specified amplitude from a given range and an arbitrary independently chosen period.

Publiceringsår

2007

Språk

Engelska

Dokumenttyp

Konferensbidrag

Ämne

  • Control Engineering

Nyckelord

  • Orbital stabilization
  • Nonlinear feedback control
  • Inertia wheel pendulum

Conference name

European Control Conference, 2007

Conference date

2007-07-02 - 2007-07-05

Conference place

Kos, Greece

Status

Published

Projekt

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