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Virtual-Constraints-Based Design of Stable Oscillations of Furuta Pendulum: Theory and Experiments

Shiriaev, Anton; Freidovich, Leonid; Robertsson, Anders LU and Johansson, Rolf LU (2006) 45th IEEE Conference on Decision and Control, 2006
Abstract
We consider a special benchmark mechanical

system with two degrees of freedom and underactuation degree

one. Furuta Pendulum consists of an arm, rotating in the

horizontal plane, and a pendulum, attached to the end of

the arm freely and moving in the vertical plane. Our goal

is to create and partially shape stable oscillations of the

pendulum. The approach is based on the idea of stabilization

of a particular virtual holonomic constraint, imposed on the

configuration coordinates. We describe here a step-by-step

design procedure in details. Our approach is illustrated through

successful experimental tests.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to conference
publication status
published
subject
conference name
45th IEEE Conference on Decision and Control, 2006
external identifiers
  • Scopus:39649104622
language
English
LU publication?
yes
id
27fb83e2-1c36-4e7a-88cc-482c77974480 (old id 942509)
date added to LUP
2008-01-22 11:06:34
date last changed
2017-01-01 08:09:42
@misc{27fb83e2-1c36-4e7a-88cc-482c77974480,
  abstract     = {We consider a special benchmark mechanical<br/><br>
system with two degrees of freedom and underactuation degree<br/><br>
one. Furuta Pendulum consists of an arm, rotating in the<br/><br>
horizontal plane, and a pendulum, attached to the end of<br/><br>
the arm freely and moving in the vertical plane. Our goal<br/><br>
is to create and partially shape stable oscillations of the<br/><br>
pendulum. The approach is based on the idea of stabilization<br/><br>
of a particular virtual holonomic constraint, imposed on the<br/><br>
configuration coordinates. We describe here a step-by-step<br/><br>
design procedure in details. Our approach is illustrated through<br/><br>
successful experimental tests.},
  author       = {Shiriaev, Anton and Freidovich, Leonid and Robertsson, Anders and Johansson, Rolf},
  language     = {eng},
  title        = {Virtual-Constraints-Based Design of Stable Oscillations of Furuta Pendulum: Theory and Experiments},
  year         = {2006},
}