2008 | OriginalPaper | Chapter
Robust Orbital Stabilization of Pendubot: Algorithm Synthesis, Experimental Verification, and Application to Swing up and Balancing Control
Authors : Yuri Orlov, Luis T. Aguilar, Leonardo Acho, Adán Ortiz
Published in: Modern Sliding Mode Control Theory
Publisher: Springer Berlin Heidelberg
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Motivated by applications where the natural operation mode is periodic, orbital stabilization of mechanical systems has received significant attention over the last few years (see, e.g., [24] and references therein). For these systems the orbital stabilization paradigm, referred to as periodic balancing [5], differs from typical formulations of output tracking where the reference trajectory to follow is known
a priori
. The control objective for the periodic balancing, e.g., a walking rabbit [6] is to result in the closed-loop system that generates its own periodic orbit similar to that produced by a nonlinear oscillator. Apart from this, the closed-loop system should be capable of moving from one orbit to another by simply modifying the orbit parameters such as frequency and/or amplitude.