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Motion planning and feedback stabilization of periodic orbits for an Acrobot
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2004 (English)In: 2004 43rd IEEE conference on decision and control (CDC), vols 1-5, New York: IEEE conference proceedings, 2004, 290-295 p.Conference paper (Refereed)Text
Abstract [en]

This paper discusses the problem of generating by feedback stable periodic motions for an Acrobot - the 2 - link pendulum with only one control input applied to the second link. The suggested control law is derived from a new control method proposed recently by the 1st and 3rd authors, and it has a feedback structure that explicitly uses the full integral of the resulting zero dynamics. Such control law yields exponentially locally orbitally stable nontrivial periodic motions for the closed-loop system. The idea is applied for generating human-like behaviour for 3-link underactuated pendulum, see Fig 1, having actuated only the 2nd and 3rd links. Under the assumption that the 3rd link does not have a relative motion, the built system is equivalent to the Acrobot. Computer simulations display preliminary results, while the experimental work is in progress.

Place, publisher, year, edition, pages
New York: IEEE conference proceedings, 2004. 290-295 p.
, IEEE conference on decision and control - proceedings, ISSN 0191-2216
Keyword [en]
orbital stabilization, the Acrobot, the 3-link, planar pendulum, biped robots
National Category
Computer Science Robotics Control Engineering
URN: urn:nbn:se:umu:diva-122181DOI: 10.1109/CDC.2004.1428645ISI: 000226745600049ISBN: 0-7803-8682-5OAI: diva2:938650
43rd IEEE Conference on Decision and Control, DEC 14-17, 2004, San Diego, CA
Available from: 2016-06-17 Created: 2016-06-15 Last updated: 2016-06-17Bibliographically approved

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Shiriaev, Anton
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