Virtual-Constraints-Based Design of Stable Oscillations of Furuta Pendulum: Theory and Experiments

We consider a special benchmark mechanical system with two degrees of freedom and underactuation degree one. Furuta pendulum consists of an arm, rotating in the horizontal plane, and a pendulum, attached to the end of the arm freely and moving in the vertical plane. Our goal is to create and partial...

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Bibliographic Details
Published inProceedings of the 45th IEEE Conference on Decision and Control pp. 6144 - 6149
Main Authors Shiriaev, A., Freidovich, L., Robertsson, A., Johansson, R.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2006
SeriesProceedings / IEEE Conference on Decision and ControlIEEE Control Systems Society
Subjects
Feedback control
Friction
Furuta pendulum
Limit cycle
Limit-cycles
Mechanical systems
orbital stability
Physics
Shape
Stability
Testing
Torque control
under-actuated mechanical system
USA Councils
virtual holonomic constraints
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ISBN9781424401710
1424401712
ISSN0191-2216
DOI10.1109/CDC.2006.376850

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Summary:We consider a special benchmark mechanical system with two degrees of freedom and underactuation degree one. Furuta pendulum consists of an arm, rotating in the horizontal plane, and a pendulum, attached to the end of the arm freely and moving in the vertical plane. Our goal is to create and partially shape stable oscillations of the pendulum. The approach is based on the idea of stabilization of a particular virtual holonomic constraint, imposed on the configuration coordinates. We describe here a step-by-step design procedure in details. Our approach is illustrated through successful experimental tests
ISBN:9781424401710
1424401712
ISSN:0191-2216
DOI:10.1109/CDC.2006.376850