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.
On the swing-up of the Pendubot using virtual holonomic constrains / Consolini, Luca; M., Maggiore. - (2011), pp. 4803-4808. (Intervento presentato al convegno 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC) tenutosi a Orlando, FL, USA nel 12-15 Dic. 2011) [10.1109/CDC.2011.6161512].
On the swing-up of the Pendubot using virtual holonomic constrains
CONSOLINI, Luca;
2011-01-01
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
