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:
https://lup.lub.lu.se/record/1047429
- author
- Freidovich, Leonid
; Robertsson, Anders
LU
; Shiriaev, Anton
and Johansson, Rolf
LU
- organization
- publishing date
- 2008
- 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 Press Ltd.
- external identifiers
-
- wos:000254596100019
- scopus:39449120584
- ISSN
- 0005-1098
- DOI
- 10.1016/j.automatica.2007.07.011
- project
- RobotLab LTH
- Stable Oscillations in Nonlinear Systems 2006-2008
- language
- English
- LU publication?
- yes
- id
- b019c6e7-9aae-4960-b7f5-82b039efecf6 (old id 1047429)
- date added to LUP
- 2016-04-04 09:39:32
- date last changed
- 2024-06-09 17:27:01
@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}},
keywords = {{Orbital stabilization; Nonlinear feedback control; Pendubot}},
language = {{eng}},
number = {{3}},
pages = {{785--791}},
publisher = {{Pergamon Press Ltd.}},
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}},
doi = {{10.1016/j.automatica.2007.07.011}},
volume = {{44}},
year = {{2008}},
}