Stabilization of Rotational Modes for the Furuta Pendulum
(2001)- Abstract
- 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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/537856
- author
- Shiriaev, Anton ; Paramonov, L. ; Sørensen, A. and Robertsson, Anders LU
- organization
- publishing date
- 2001
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- Furuta pendulum, V-detectability, stabilization of periodic orbit
- host publication
- Nonlinear Control Systems 2001
- publisher
- Elsevier
- language
- English
- LU publication?
- yes
- id
- e282298c-756c-4d66-a831-e8842d430d8b (old id 537856)
- date added to LUP
- 2016-04-04 11:12:31
- date last changed
- 2019-12-11 09:36:40
@inproceedings{e282298c-756c-4d66-a831-e8842d430d8b, abstract = {{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.}}, author = {{Shiriaev, Anton and Paramonov, L. and Sørensen, A. and Robertsson, Anders}}, booktitle = {{Nonlinear Control Systems 2001}}, keywords = {{Furuta pendulum; V-detectability; stabilization of periodic orbit}}, language = {{eng}}, publisher = {{Elsevier}}, title = {{Stabilization of Rotational Modes for the Furuta Pendulum}}, year = {{2001}}, }