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Periodic motions of the Pendubot via virtual holonomic constraints: theory and experiments
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
LTH, Lund University.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
LTH, Lund University.
2008 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 44, no 3, 785-798 p.Article in journal (Refereed) Published
Abstract [en]

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.
Identifiers
URN: urn:nbn:se:umu:diva-19772DOI: 10.1016/j.automatica.2007.07.011OAI: oai:DiVA.org:umu-19772DiVA: diva2:204767
Available from: 2009-03-10 Created: 2009-03-10 Last updated: 2017-12-13Bibliographically approved

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Freidovich, LeonidShiriaev, Anton
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