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Stabilization of Rotational Modes for the Furuta Pendulum

Shiriaev, Anton; Paramonov, L.; Sørensen, A. and Robertsson, Anders LU (2001) In Nonlinear Control Systems 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.
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Furuta pendulum, V-detectability, stabilization of periodic orbit
in
Nonlinear Control Systems 2001
publisher
Elsevier
language
English
LU publication?
yes
id
e282298c-756c-4d66-a831-e8842d430d8b (old id 537856)
date added to LUP
2007-09-25 10:43:17
date last changed
2016-09-23 15:15:39
@misc{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},
  keyword      = {Furuta pendulum,V-detectability,stabilization of periodic orbit},
  language     = {eng},
  publisher    = {ARRAY(0xb71b108)},
  series       = {Nonlinear Control Systems 2001},
  title        = {Stabilization of Rotational Modes for the Furuta Pendulum},
  year         = {2001},
}