Stable Periodic Motions of the Pendubot via Virtual Holonomic Constraints

Leonid Freidovich; Anders Robertsson; Anton Shiriaev; Rolf Johansson

Stable Periodic Motions of the Pendubot via Virtual Holonomic Constraints

Leonid Freidovich, Anders Robertsson, Anton Shiriaev, Rolf Johansson

Department of Automatic Control

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

Abstract

This paper presents a new control strategy for an underactuated two-link robot, called the Pendubot. The goal is to create stable oscillations of the outer link of the pendubot, 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: stable oscillatory motions, a closed-loop-design-based swing-up, and propeller motions.

Original language	English
Title of host publication	Proc. 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control
Publication status	Published - 2006
Event	3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2006 - Nagoya, Japan Duration: 2006 Jul 19 → 2006 Jul 21 Conference number: 3

Workshop

Workshop	3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2006
Abbreviated title	LHMNLC'06
Country/Territory	Japan
City	Nagoya
Period	2006/07/19 → 2006/07/21

Subject classification (UKÄ)

Control Engineering

Free keywords

Nonlinear feedback control
Orbital stabilization
Pendubot

1 Finished
1 Active

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 2006-2008
Johansson, R. (Researcher)
2006/01/01 → 2008/12/31
Project: Research

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

Cite this

@inproceedings{aa9089c1ddcd45c5bfc78b1d644f1155,

title = "Stable Periodic Motions of the Pendubot via Virtual Holonomic Constraints",

abstract = "This paper presents a new control strategy for an underactuated two-link robot, called the Pendubot. The goal is to create stable oscillations of the outer link of the pendubot, 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: stable oscillatory motions, a closed-loop-design-based swing-up, and propeller motions.",

keywords = "Nonlinear feedback control, Orbital stabilization, Pendubot",

author = "Leonid Freidovich and Anders Robertsson and Anton Shiriaev and Rolf Johansson",

year = "2006",

language = "English",

booktitle = "Proc. 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control",

note = "3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2006, LHMNLC'06 ; Conference date: 19-07-2006 Through 21-07-2006",

}

TY - GEN

T1 - Stable Periodic Motions of the Pendubot via Virtual Holonomic Constraints

AU - Freidovich, Leonid

AU - Robertsson, Anders

AU - Shiriaev, Anton

AU - Johansson, Rolf

N1 - Conference code: 3

PY - 2006

Y1 - 2006

N2 - This paper presents a new control strategy for an underactuated two-link robot, called the Pendubot. The goal is to create stable oscillations of the outer link of the pendubot, 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: stable oscillatory motions, a closed-loop-design-based swing-up, and propeller motions.

AB - This paper presents a new control strategy for an underactuated two-link robot, called the Pendubot. The goal is to create stable oscillations of the outer link of the pendubot, 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: stable oscillatory motions, a closed-loop-design-based swing-up, and propeller motions.

KW - Nonlinear feedback control

KW - Orbital stabilization

KW - Pendubot

M3 - Paper in conference proceeding

BT - Proc. 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control

T2 - 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2006

Y2 - 19 July 2006 through 21 July 2006

ER -

Stable Periodic Motions of the Pendubot via Virtual Holonomic Constraints

Abstract

Workshop

Subject classification (UKÄ)

Free keywords

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Projects

RobotLab LTH

Stable Oscillations in Nonlinear Systems 2006-2008

Equipment

RobotLab LTH Infrastructure

Cite this