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Shaping Stable Periodic Motions of Inertia Wheel Pendulum: Theory And Experiment

In English

Författare

Summary, in English

We consider an underactuated two-link robot called the inertia wheel pendulum. The system consists of a free planar rotational pendulum and a symmetric disk attached to its end, which is 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 procedure on how to achieve oscillations with pre-specified amplitude from a given range and an arbitrary independently chosen period. The theoretical results are verified via experiments with a real hardware setup.

Publiceringsår

2009

Språk

Engelska

Sidor

548-556

Publikation/Tidskrift/Serie

Asian Journal of Control

Volym

11

Issue

5

Dokumenttyp

Artikel i tidskrift

Förlag

Chinese Automatic Control Society

Ämne

  • Control Engineering

Nyckelord

  • underactuated systems
  • inertia wheel pendulum
  • nonlinear feedback control
  • Orbital stabilization
  • periodic motions

Status

Published

Projekt

  • LU Robotics Laboratory
  • Stable Oscillations in Nonlinear Systems 2009-2010

Forskningsgrupp

  • LCCC

ISBN/ISSN/Övrigt

  • ISSN: 1934-6093