Minimum-time control of the acrobot

被引：0
|
作者：
Boone, G
机构：
来源：
1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4 | 1997年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The Acrobot, a two-link arm that is unactuated at the first joint, is challenging to control because it is an underactuated, nonlinear, continuous system. We describe a direct search algorithm for finding swingup trajectories for the Acrobot. The algorithm uses a lookahead search that maximizes the Acrobot's total energy in an N-step window. Because the controls are extremal and the number of switches in the window limited, the algorithm is fast. Nevertheless, the resulting trajectories are near optimal.
引用
收藏
页码：3281 / 3287
页数：7
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