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Chapitre D'ouvrage Année : 2005

Virtual constraints for the orbital stabilization of the Pendubot

Résumé

A method for the generation of attractive and neutrally stable limit cycles for nonlinear systems is presented. It consists in designing an output that, when regulated through a suitable feedback, forces the existence of a limit cycle or neutral oscillations in the zero dynamics. Conditions are then given to ensure that those characteristics of the zero-dynamics translate to the whole system. A particular focus is made on the gen- eration of neutrally stable oscillations through that method, because it is not always easy to build an output that results in the existence of a limit-cycle in the zero-dynamics. A special case where such a difficulty arises is given in the analysis of oscillations generation around the up- per vertical for the pendubot. The regulation of the output results in neutrally stable oscillations, and we present a method for imposing that those oscillations converge towards the desired ones.
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Dates et versions

hal-00395030 , version 1 (14-06-2009)

Identifiants

  • HAL Id : hal-00395030 , version 1

Citer

Frédéric Grognard, Carlos Canudas de Wit. Virtual constraints for the orbital stabilization of the Pendubot. A. Alstolfi. Nonlinear and adaptive control: theory and applications for the users., IC Press, pp.115-145, 2005. ⟨hal-00395030⟩
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