Virtual-holonomic-constraints-based design of stable oscillations of Furuta pendulum: Theory and experiments

IEEE Transactions on Robotics

Volumn 23, Issue 4, 2007, Pages 827-832

  Shiriaev, Anton S ^a,b   Freidovich, Leonid B ^a   Robertsson, Anders ^a,c   Johansson, Rolf ^c   Sandberg, Anders ^a  

^a UMEÅ UNIVERSITY   (Sweden)

^b NORWEGIAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Norway)

^c LUND UNIVERSITY   (Sweden)

Author keywords

Furuta pendulum; Motion planning for periodic orbits; Orbital stability; Virtual holonomic constraints

Indexed keywords

COMPUTER SIMULATION; FEEDBACK CONTROL; MOTION PLANNING; PENDULUMS; POSITION CONTROL;

FURUTA PENDULUM; VIRTUAL HOLONOMIC CONSTRAINT;

ROBOTS;

EID: 34548161469     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2007.900597     Document Type: Article

References (8)

1. Swing-Up and Oscillations of the Furuta Pendulum, Recorded experiment. Available: www.tfe.umu.se/forskning/Control_Systems/Set_Ups/ Furuta_Pendulum/Furuta_Pendulum_info.html 2006.
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7. A. S. Shiriaev, J. W. Perram, and C. Canudas-de-Wit, "Constructive tool for orbital stabilization of underactuated nonlinear systems: Virtual constraints approach," IEEE Trans. Autom. Control, vol. 50, no. 8, pp. 1164-1176, Aug. 2005.
8. A. S. Shiriaev, A. Robertsson, J. W. Perram, and A. Sandberg, "Periodic motion planning for virtually constrained mechanical system," Syst. Control Lett., vol. 55, no. 11, pp. 900-907, 2006.