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Virtual-holonomic-constraints-based design of stable oscillations of furuta pendulum: Theory and experiments

Shiriaev, Anton S.; Freidovich, Leonid B.; Robertsson, Anders LU ; Johansson, Rolf LU and Sandberg, Anders (2007) In IEEE Transactions on Robotics 23(4). p.827-832
Abstract
The Furuta pendulum consists of an arm rotating in the horizontal plane and a pendulum attached to its end. Rotation of the arm is controlled by a DC motor, while the pendulum is moving freely in the plane, orthogonal to the arm. Motivated, in particular, by possible applications for walking/running/balancing robots, we consider the Furuta pendulum as a system for which synchronized periodic motions of all the generalized coordinates are to be created and stabilized. The goal is to achieve, via appropriate feedback control action, orbitally exponentially stable oscillations of the pendulum of various shapes around its upright and downward positions, accompanied with oscillations of the arm. Our approach is based on the idea of... (More)
The Furuta pendulum consists of an arm rotating in the horizontal plane and a pendulum attached to its end. Rotation of the arm is controlled by a DC motor, while the pendulum is moving freely in the plane, orthogonal to the arm. Motivated, in particular, by possible applications for walking/running/balancing robots, we consider the Furuta pendulum as a system for which synchronized periodic motions of all the generalized coordinates are to be created and stabilized. The goal is to achieve, via appropriate feedback control action, orbitally exponentially stable oscillations of the pendulum of various shapes around its upright and downward positions, accompanied with oscillations of the arm. Our approach is based on the idea of stabilization of a particular virtual holonomic constraint imposed on the configuration coordinates, which has been theoretically developed recently. Here, we elaborate on the complete design procedure. The results are illustrated not only through numerical simulations but also through successful experimental tests. (Less)
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author
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
orbital, furuta pendulum, motion planning for periodic orbits, stability, virtual holonomic constraints
in
IEEE Transactions on Robotics
volume
23
issue
4
pages
827 - 832
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • wos:000248671300018
  • scopus:34548161469
ISSN
1941-0468
DOI
10.1109/TRO.2007.900597
language
English
LU publication?
yes
id
98ec8a99-512e-4a87-84e5-f942d7d881e5 (old id 691921)
date added to LUP
2007-12-14 15:32:09
date last changed
2017-10-29 03:24:20
@article{98ec8a99-512e-4a87-84e5-f942d7d881e5,
  abstract     = {The Furuta pendulum consists of an arm rotating in the horizontal plane and a pendulum attached to its end. Rotation of the arm is controlled by a DC motor, while the pendulum is moving freely in the plane, orthogonal to the arm. Motivated, in particular, by possible applications for walking/running/balancing robots, we consider the Furuta pendulum as a system for which synchronized periodic motions of all the generalized coordinates are to be created and stabilized. The goal is to achieve, via appropriate feedback control action, orbitally exponentially stable oscillations of the pendulum of various shapes around its upright and downward positions, accompanied with oscillations of the arm. Our approach is based on the idea of stabilization of a particular virtual holonomic constraint imposed on the configuration coordinates, which has been theoretically developed recently. Here, we elaborate on the complete design procedure. The results are illustrated not only through numerical simulations but also through successful experimental tests.},
  author       = {Shiriaev, Anton S. and Freidovich, Leonid B. and Robertsson, Anders and Johansson, Rolf and Sandberg, Anders},
  issn         = {1941-0468},
  keyword      = {orbital,furuta pendulum,motion planning for periodic orbits,stability,virtual holonomic constraints},
  language     = {eng},
  number       = {4},
  pages        = {827--832},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  series       = {IEEE Transactions on Robotics},
  title        = {Virtual-holonomic-constraints-based design of stable oscillations of furuta pendulum: Theory and experiments},
  url          = {http://dx.doi.org/10.1109/TRO.2007.900597},
  volume       = {23},
  year         = {2007},
}