Shaping Stable Periodic Motions of Inertia Wheel Pendulum: Theory And Experiment
Freidovich, Leonid B. ; La Hera, Pedro ; Mettin, Uwe ; Robertsson, Anders LU ; Shiriaev, Anton S. and Johansson, Rolf LU
(2009)
In Asian Journal of Control
11(5).
p.548-556
- Abstract
- 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... (More)
- 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. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/1489829
- author
- Freidovich, Leonid B.
; La Hera, Pedro
; Mettin, Uwe
; Robertsson, Anders
LU
; Shiriaev, Anton S.
and Johansson, Rolf
LU
- organization
- publishing date
- 2009
- type
- Contribution to journal
- publication status
- published
- subject
- keywords
- underactuated systems, inertia wheel pendulum, nonlinear feedback control, Orbital stabilization, periodic motions
- in
- Asian Journal of Control
- volume
- 11
- issue
- 5
- pages
- 548 - 556
- publisher
- Chinese Automatic Control Society
- external identifiers
-
- wos:000270441600008
- scopus:72449155996
- ISSN
- 1934-6093
- DOI
- 10.1002/asjc.135
- project
- RobotLab LTH
- Stable Oscillations in Nonlinear Systems 2009-2010
- language
- English
- LU publication?
- yes
- id
- d71c646a-51a6-4b81-97a9-2c33e2456455 (old id 1489829)
- date added to LUP
- 2016-04-01 12:34:30
- date last changed
- 2025-04-04 15:17:06
@article{d71c646a-51a6-4b81-97a9-2c33e2456455,
abstract = {{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.}},
author = {{Freidovich, Leonid B. and La Hera, Pedro and Mettin, Uwe and Robertsson, Anders and Shiriaev, Anton S. and Johansson, Rolf}},
issn = {{1934-6093}},
keywords = {{underactuated systems; inertia wheel pendulum; nonlinear feedback control; Orbital stabilization; periodic motions}},
language = {{eng}},
number = {{5}},
pages = {{548--556}},
publisher = {{Chinese Automatic Control Society}},
series = {{Asian Journal of Control}},
title = {{Shaping Stable Periodic Motions of Inertia Wheel Pendulum: Theory And Experiment}},
url = {{http://dx.doi.org/10.1002/asjc.135}},
doi = {{10.1002/asjc.135}},
volume = {{11}},
year = {{2009}},
}