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

Anton Shiriaev, Leonid Freidovich, Anders Robertsson, Rolf Johansson

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingpeer-review

6 Citations (SciVal)

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.
Original languageEnglish
Title of host publicationProc. 45th IEEE Conf. Decision & Control (CDC2006)
Publication statusPublished - 2006
Event45th IEEE Conference on Decision and Control, 2006 - San Diego, CA, San Diego, CA, United States
Duration: 2006 Dec 132006 Dec 15
Conference number: 45

Conference

Conference45th IEEE Conference on Decision and Control, 2006
Country/TerritoryUnited States
CitySan Diego, CA
Period2006/12/132006/12/15

Subject classification (UKÄ)

  • Control Engineering

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