Periodic motions of the Pendubot via virtual holonomic constraints: theory and experiments
2008 (English)In: Automatica, ISSN 0005-1098, Vol. 44, no 3, 785-798 p.Article in journal (Refereed) Published
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.
Place, publisher, year, edition, pages
2008. Vol. 44, no 3, 785-798 p.
IdentifiersURN: urn:nbn:se:umu:diva-19772DOI: 10.1016/j.automatica.2007.07.011OAI: oai:DiVA.org:umu-19772DiVA: diva2:204767