Robust Orbital Stabilization of Pendubot: Algorithm Synthesis, Experimental Verification, and Application to Swing up and Balancing Control

摘要: Motivated by applications where the natural operation mode is periodic, orbital stabilization of mechanical systems has received significant attention over last few years (see, e.g., [24] and references therein). For these paradigm, referred to as periodic balancing [5], differs from typical formulations output tracking reference trajectory follow known a priori. The control objective for balancing, walking rabbit [6] result in closed-loop system that generates its own orbit similar produced nonlinear oscillator. Apart this, should be capable moving one another simply modifying parameters such frequency and/or amplitude.