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Stable Periodic Motions of Inertia Wheel Pendulum via Virtual Holonomic Constraints

Freidovich, Leonid; Robertsson, Anders LU ; Shiriaev, Anton and Johansson, Rolf LU (2007) European Control Conference, 2007
Abstract
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... (More)
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. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to conference
publication status
published
subject
keywords
Orbital stabilization, Nonlinear feedback control, Inertia wheel pendulum
conference name
European Control Conference, 2007
language
English
LU publication?
yes
id
ce09ecf9-e955-4a88-b680-ad92634d8990 (old id 1001664)
date added to LUP
2008-01-30 11:32:37
date last changed
2016-06-27 13:27:33
@misc{ce09ecf9-e955-4a88-b680-ad92634d8990,
  abstract     = {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.},
  author       = {Freidovich, Leonid and Robertsson, Anders and Shiriaev, Anton and Johansson, Rolf},
  keyword      = {Orbital stabilization,Nonlinear feedback control,Inertia wheel pendulum},
  language     = {eng},
  title        = {Stable Periodic Motions of Inertia Wheel Pendulum via Virtual Holonomic Constraints},
  year         = {2007},
}