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Periodic motions of the Pendubot via virtual holonomic constraints: Theory and experiments

Freidovich, Leonid; Robertsson, Anders LU ; Shiriaev, Anton and Johansson, Rolf LU (2008) In Automatica 44(3). p.785-791
Abstract
This paper presents a new control strategy for an underactuated two-link robot, called the Pendubot. The goal is to create stable oscillations of the outer link of the Pendubot, 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: stable oscillatory motions, a closed-loop-design-based swing-up, and propeller motions. The theoretical results are verified via successful experimental implementation.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
Orbital stabilization, Nonlinear feedback control, Pendubot
in
Automatica
volume
44
issue
3
pages
785 - 791
publisher
Pergamon
external identifiers
  • wos:000254596100019
  • scopus:39449120584
ISSN
0005-1098
DOI
10.1016/j.automatica.2007.07.011
language
English
LU publication?
yes
id
b019c6e7-9aae-4960-b7f5-82b039efecf6 (old id 1047429)
date added to LUP
2008-03-11 17:33:24
date last changed
2017-01-01 07:52:55
@article{b019c6e7-9aae-4960-b7f5-82b039efecf6,
  abstract     = {This paper presents a new control strategy for an underactuated two-link robot, called the Pendubot. The goal is to create stable oscillations of the outer link of the Pendubot, 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: stable oscillatory motions, a closed-loop-design-based swing-up, and propeller motions. The theoretical results are verified via successful experimental implementation.},
  author       = {Freidovich, Leonid and Robertsson, Anders and Shiriaev, Anton and Johansson, Rolf},
  issn         = {0005-1098},
  keyword      = {Orbital stabilization,Nonlinear feedback control,Pendubot},
  language     = {eng},
  number       = {3},
  pages        = {785--791},
  publisher    = {Pergamon},
  series       = {Automatica},
  title        = {Periodic motions of the Pendubot via virtual holonomic constraints: Theory and experiments},
  url          = {http://dx.doi.org/10.1016/j.automatica.2007.07.011},
  volume       = {44},
  year         = {2008},
}