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

页码：4803 / 4808

页数：6

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