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Stable Periodic Motions of the Pendubot via Virtual Holonomic Constraints

Freidovich, Leonid ; Robertsson, Anders LU ; Shiriaev, Anton and Johansson, Rolf LU orcid (2006) 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2006
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.
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author
; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Nonlinear feedback control, Orbital stabilization, Pendubot
host publication
Proc. 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control
conference name
3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2006
conference location
Nagoya, Japan
conference dates
2006-07-19 - 2006-07-21
project
RobotLab LTH
Stable Oscillations in Nonlinear Systems 2006-2008
language
English
LU publication?
yes
id
aa9089c1-ddcd-45c5-bfc7-8b1d644f1155 (old id 937414)
date added to LUP
2016-04-04 12:51:19
date last changed
2019-04-10 16:41:33
@inproceedings{aa9089c1-ddcd-45c5-bfc7-8b1d644f1155,
  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.}},
  author       = {{Freidovich, Leonid and Robertsson, Anders and Shiriaev, Anton and Johansson, Rolf}},
  booktitle    = {{Proc. 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control}},
  keywords     = {{Nonlinear feedback control; Orbital stabilization; Pendubot}},
  language     = {{eng}},
  title        = {{Stable Periodic Motions of the Pendubot via Virtual Holonomic Constraints}},
  year         = {{2006}},
}