Paper Info
Title
On The Swing-Up Of The Pendubot Using Virtual Holonomic Constrains
Abstract
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.
Year
DOI
Venue
2011
10.1109/CDC.2011.6161512
2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC)
Field
DocType
ISSN
Topology,Mathematical optimization,Control theory,Holonomic constraints,Holonomic,Invariant (physics),Control theory,Computer science,Level set,Exponential stability,Manifold,Swing
Conference
0743-1546
Citations 
PageRank 
References 
3
0.49
9
Authors
2
Name
Order
Citations
PageRank
Luca Consolini127631.16
Manfredi Maggiore274364.79