On the Swing-Up of the Pendubot Using Virtual Holonomic Constrains

被引：0
|
作者：
Consolini, Luca [1 ]
Maggiore, Manfredi [2 ]
机构：
[1] Dipartimento Ingn Informaz, Via Usberti 181-A, I-43124 Parma, Italy
[2] Univ Toronto, Dept Elect & Comp Engn, Toronto, ON M5S 3G4, Canada
来源：
2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC) | 2011年
关键词：
SYSTEMS; WALKING; ROBOT; TOOL;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We investigate the problem of stabilizing energy level sets for Euler-Lagrange systems subject to virtual holonomic constraints. We present an energy level set stabilization technique with a guaranteed domain of attraction which preserves the invariance of the constraint manifold. As an illustration of the theory, we present a controller which swings up the Pendubot system while guaranteeing that the unactuated link does not fall over during transient.
引用
收藏
页码：4803 / 4808
页数：6
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