Stable Periodic Motions of Inertia Wheel Pendulum via Virtual Holonomic Constraints

Leonid Freidovich, Anders Robertsson, Anton Shiriaev, Rolf Johansson

Research output: Contribution to conferencePaper, not in proceedingpeer-review


We present a new control strategy for an underactuated two-link robot, called inertia wheel pendulum. The system consists of a free planar rotational pendulum and a symmetric disk, attached to its end and 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 recipe on how to achieve oscillations with pre-specified amplitude from a given range and an arbitrary independently chosen period.
Original languageEnglish
Publication statusPublished - 2007
EventEuropean Control Conference, 2007: ECC´07 - Kos, Kos, Greece
Duration: 2007 Jul 22007 Jul 5


ConferenceEuropean Control Conference, 2007

Subject classification (UKÄ)

  • Control Engineering

Free keywords

  • Orbital stabilization
  • Nonlinear feedback control
  • Inertia wheel pendulum


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