Shaping Stable Periodic Motions of Inertia Wheel Pendulum: Theory And Experiment

Leonid B. Freidovich; Pedro La Hera; Uwe Mettin; Anders Robertsson; Anton S. Shiriaev; Rolf Johansson

doi:10.1002/asjc.135

Shaping Stable Periodic Motions of Inertia Wheel Pendulum: Theory And Experiment

Leonid B. Freidovich, Pedro La Hera, Uwe Mettin, Anders Robertsson, Anton S. Shiriaev, Rolf Johansson

Department of Automatic Control

Research output: Contribution to journal › Article › peer-review

Abstract

We consider an underactuated two-link robot called the inertia wheel pendulum. The system consists of a free planar rotational pendulum and a symmetric disk attached to its end, which is directly controlled by a DC-motor. The goal is to create stable oscillations of the pendulum, 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 orbitally exponentially stable oscillatory motions. The main contribution is a step-by-step procedure on how to achieve oscillations with pre-specified amplitude from a given range and an arbitrary independently chosen period. The theoretical results are verified via experiments with a real hardware setup.

Original language	English
Pages (from-to)	548-556
Journal	Asian Journal of Control
Volume	11
Issue number	5
DOIs	https://doi.org/10.1002/asjc.135
Publication status	Published - 2009

Subject classification (UKÄ)

Control Engineering

Free keywords

underactuated systems
inertia wheel pendulum
nonlinear feedback control
Orbital stabilization
periodic motions

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10.1002/asjc.135

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RobotLab LTH
Bagge Carlson, F. (Researcher), Johansson, R. (Researcher), Karlsson, M. (Researcher), Olofsson, B. (Researcher), Robertsson, A. (Researcher), Robertz, S. (Researcher), Haage, M. (Researcher), Malec, J. (Researcher), Nilsson, K. (Researcher), Nugues, P. (Researcher), Stenmark, M. (Researcher), Topp, E. A. (Researcher), Krueger, V. (Researcher), Åström, H. (Researcher), Mayr, M. (Researcher), Salt Ducaju, J. (Researcher), Nishimura, M. (Administrator), Wisbrant, J. (Project communication officer), Dürr, A. (Researcher), Mayr, M. (Researcher), Nugues, P. (Researcher), Klang, M. (Research engineer), Klöckner, M. (Researcher), Nardi, L. (Researcher), Ahmad, F. (Researcher), Oxenstierna, J. (Researcher), Rizwan, M. (Researcher), Reichenbach, C. (Researcher), Bergström, J. (Researcher), Dell'Unto, N. (Researcher), Maunsbach, L. (Researcher), Åström, K. (Researcher), Blomdell, A. (Research engineer), Magnusson, M. (Researcher), Fransson, P.-A. (Researcher), Karayiannidis, Y. (Researcher), Johansson, A. T. (Researcher), Jia, Z. (Researcher), Laban, L. (Researcher), Wingqvist, B. (Researcher), Guberina, M. (Researcher), Jena, A. (Researcher), Westin, E. (Administrator), Frick, C. (Administrator), Pisarevskiy, A. (Research engineer), Nilsson, A. (Research engineer), Reitmann, S. (Researcher), Hvarfner, C. (Researcher), Stoltenberg, P. (Researcher) & Fregnan, S. (Researcher)
1993/01/01 → …
Project: Research
Stable Oscillations in Nonlinear Systems 2009-2010
Johansson, R. (Researcher)
2009/01/01 → 2010/12/31
Project: Research

RobotLab LTH Infrastructure
Krueger, V. (Manager), Olofsson, B. (Manager), Karayiannidis, Y. (Manager), Haage, M. (Manager), Malec, J. (Manager) & Topp, E. A. (Manager)
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Cite this

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title = "Shaping Stable Periodic Motions of Inertia Wheel Pendulum: Theory And Experiment",

abstract = "We consider an underactuated two-link robot called the inertia wheel pendulum. The system consists of a free planar rotational pendulum and a symmetric disk attached to its end, which is directly controlled by a DC-motor. The goal is to create stable oscillations of the pendulum, 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 orbitally exponentially stable oscillatory motions. The main contribution is a step-by-step procedure on how to achieve oscillations with pre-specified amplitude from a given range and an arbitrary independently chosen period. The theoretical results are verified via experiments with a real hardware setup.",

keywords = "underactuated systems, inertia wheel pendulum, nonlinear feedback control, Orbital stabilization, periodic motions",

author = "Freidovich, {Leonid B.} and {La Hera}, Pedro and Uwe Mettin and Anders Robertsson and Shiriaev, {Anton S.} and Rolf Johansson",

year = "2009",

doi = "10.1002/asjc.135",

language = "English",

volume = "11",

pages = "548--556",

journal = "Asian Journal of Control",

issn = "1934-6093",

publisher = "Chinese Automatic Control Society",

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T1 - Shaping Stable Periodic Motions of Inertia Wheel Pendulum: Theory And Experiment

AU - Freidovich, Leonid B.

AU - La Hera, Pedro

AU - Mettin, Uwe

AU - Robertsson, Anders

AU - Shiriaev, Anton S.

AU - Johansson, Rolf

PY - 2009

Y1 - 2009

N2 - We consider an underactuated two-link robot called the inertia wheel pendulum. The system consists of a free planar rotational pendulum and a symmetric disk attached to its end, which is directly controlled by a DC-motor. The goal is to create stable oscillations of the pendulum, 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 orbitally exponentially stable oscillatory motions. The main contribution is a step-by-step procedure on how to achieve oscillations with pre-specified amplitude from a given range and an arbitrary independently chosen period. The theoretical results are verified via experiments with a real hardware setup.

AB - We consider an underactuated two-link robot called the inertia wheel pendulum. The system consists of a free planar rotational pendulum and a symmetric disk attached to its end, which is directly controlled by a DC-motor. The goal is to create stable oscillations of the pendulum, 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 orbitally exponentially stable oscillatory motions. The main contribution is a step-by-step procedure on how to achieve oscillations with pre-specified amplitude from a given range and an arbitrary independently chosen period. The theoretical results are verified via experiments with a real hardware setup.

KW - underactuated systems

KW - inertia wheel pendulum

KW - nonlinear feedback control

KW - Orbital stabilization

KW - periodic motions

U2 - 10.1002/asjc.135

DO - 10.1002/asjc.135

M3 - Article

SN - 1934-6093

VL - 11

SP - 548

EP - 556

JO - Asian Journal of Control

JF - Asian Journal of Control

IS - 5

ER -

Shaping Stable Periodic Motions of Inertia Wheel Pendulum: Theory And Experiment

Abstract

Subject classification (UKÄ)

Free keywords

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