Projects per year
Abstract
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.
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.
| Original language | English |
|---|---|
| Title of host publication | Proc. 45th IEEE Conf. Decision & Control (CDC2006) |
| Publication status | Published - 2006 |
| Event | 45th IEEE Conference on Decision and Control, 2006 - San Diego, CA, San Diego, CA, United States Duration: 2006 Dec 13 → 2006 Dec 15 Conference number: 45 |
Conference
| Conference | 45th IEEE Conference on Decision and Control, 2006 |
|---|---|
| Country/Territory | United States |
| City | San Diego, CA |
| Period | 2006/12/13 → 2006/12/15 |
Subject classification (UKÄ)
- Control Engineering
Fingerprint
Dive into the research topics of 'Virtual-Constraints-Based Design of Stable Oscillations of Furuta Pendulum: Theory and Experiments'. Together they form a unique fingerprint.-
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
Equipment
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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, LTHInfrastructure