Periodic motions of the Pendubot via virtual holonomic constraints: theory and experiments

DOI10.1016/j.automatica.2007.07.011zbMath1283.93200OpenAlexW2027585176MaRDI QIDQ2440657

Rolf Johansson, Anders Robertsson, Shiriaev, Anton S., Leonid B. Freidovich

Publication date: 19 March 2014

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2007.07.011

zbMATH Keywords

nonlinear feedback controlPendubotorbital stabilization

Mathematics Subject Classification ID

Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85) Artificial intelligence for robotics (68T40)

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Cites Work

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• Energy based control of the Pendubot
• A separation principle for the control of a class of nonlinear systems
• Constructive tool for orbital stabilization of underactuated nonlinear systems: virtual constraints approach
• Limit cycle generation for a class of non-linear systems with jumps using a low dimensional predictive control

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