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Shaping stable periodic motions of inertia wheel pendulum: theory and experiment
Author(s) -
Freidovich Leonid B.,
La Hera Pedro,
Mettin Uwe,
Robertsson Anders,
Shiriaev Anton S.,
Johansson Rolf
Publication year - 2009
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.135
Subject(s) - holonomic , control theory (sociology) , pendulum , inertia , underactuation , holonomic constraints , nonholonomic system , inverted pendulum , computer science , robot , double pendulum , control engineering , control (management) , engineering , mobile robot , physics , classical mechanics , nonlinear system , artificial intelligence , mechanical engineering , quantum mechanics
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