On the swing-up of the Pendubot using virtual holonomic constrains

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