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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:
author
organization
publishing date
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
language
English
LU publication?
yes
id
d71c646a-51a6-4b81-97a9-2c33e2456455 (old id 1489829)
date added to LUP
2009-10-21 11:04:27
date last changed
2017-01-01 05:15:56
@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},
  keyword      = {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},
  volume       = {11},
  year         = {2009},
}