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Modification via averaging of partial-energy-shaping control for orbital stabilization: cart-pendulum example
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
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2006 (English)In: Proceedings of the 45th IEEE conference on decision and control, vols 1-14, New York: IEEE Press, 2006, 6150-6155 p.Conference paper (Refereed)Text
Abstract [en]

We consider the problem of creating oscillations with respect to a part of state variables in underactuated mechanical systems. The main contribution is a modification of a recently proposed control strategy, exploiting passivity to shape the energy of the system with respect to a subset of the state variables and neglecting the dynamics of the other ones. We propose a way to design an additional control action, which guarantees boundedness of the motion of these other degrees of freedom, which otherwise almost always evolve without any bound. The idea is presented on the well-known two-degrees-of-freedom benchmark example of inverted pendulum on a cart.

Place, publisher, year, edition, pages
New York: IEEE Press, 2006. 6150-6155 p.
Series
, IEEE Conference on Decision and Control, ISSN 0191-2216
Keyword [en]
motion control, nonlinear control systems, pendulums, power control, stability
National Category
Robotics Control Engineering Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:umu:diva-119424DOI: 10.1109/CDC.2006.377055ISI: 000252251602033ISBN: 978-1-4244-0170-3OAI: oai:DiVA.org:umu-119424DiVA: diva2:925609
Conference
45th IEEE Conference on Decision and Control, DEC 13-15, 2006, San Diego, CA
Available from: 2016-05-02 Created: 2016-04-18 Last updated: 2016-05-02Bibliographically approved

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Freidovich, LeonidShiriaev, Anton
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