کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
698138 890394 2008 7 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Periodic motions of the Pendubot via virtual holonomic constraints: Theory and experiments
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Periodic motions of the Pendubot via virtual holonomic constraints: Theory and experiments
چکیده انگلیسی

This paper presents a new control strategy for an underactuated two-link robot, called the Pendubot. The goal is to create stable oscillations of the outer link of the Pendubot, 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: stable oscillatory motions, a closed-loop-design-based swing-up, and propeller motions. The theoretical results are verified via successful experimental implementation.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 44, Issue 3, March 2008, Pages 785–791
نویسندگان
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