Motion planning and feedback stabilization of periodic orbits for an Acrobot
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
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
orbital stabilization, the Acrobot, the 3-link, planar pendulum, biped robots
Computer Science Robotics Control Engineering
IdentifiersURN: urn:nbn:se:umu:diva-122181DOI: 10.1109/CDC.2004.1428645ISI: 000226745600049ISBN: 0-7803-8682-5OAI: oai:DiVA.org:umu-122181DiVA: diva2:938650
43rd IEEE Conference on Decision and Control, DEC 14-17, 2004, San Diego, CA