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Shaping stable periodic motions of inertia wheel pendulum: theory and experiment |
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| Authors: | Leonid B Freidovich Pedro La Hera Uwe Mettin Anders Robertsson Anton S Shiriaev Rolf Johansson |
| Affiliation: | 1. Department of Applied Physics and Electronics, Ume? University, SE‐901 87 Ume?, Sweden;2. Department of Automatic Control, LTH, Lund University, P.O. Box 118, SE‐221 00 Lund, Sweden;3. Department of Engineering Cybernetics, Norwegian University of Science and Technology, NO‐7491 Trondheim, Norway |
| Abstract: | We consider an underactuated two‐link robot called the inertia wheel pendulum. The system consists of a free planar rotational pendulum and a symmetric disk attached to its end, which is 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 procedure on how to achieve oscillations with pre‐specified amplitude from a given range and an arbitrary independently chosen period. The theoretical results are verified via experiments with a real hardware setup. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society |
| Keywords: | Orbital stabilization periodic motions nonlinear feedback control inertia wheel pendulum underactuated systems |