Swing-Up Control Design for Spring Attatched Passive Joint Acrobot

被引：3

作者：

Baek, Inhyuk ^{[1
]}

Kim, Hyeonguk ^{[2
]}

Lee, Seungchan ^{[1
]}

Hwang, Soonwoong ^{[3
]}

Shin, Kyoosik ^{[4
]}

机构：

[1] Hanyang Univ, Dept Mechatron Engn, 55 Hanyangdeahak Ro, Ansan 15588, Gyeonggi Do, South Korea

[2] Hyundai Mobis, Future Technol Res Team, 37 Cheoldobangmulgwan Ro, Uiwang Si 16082, Gyeonggi Do, South Korea

[3] Korea Inst Mfg Innovat, Ind Support Div, 55 Hanyangdeahak Ro, Ansan 15588, Gyeonggi Do, South Korea

[4] Hanyang Univ, Dept Robot Engn, 55 Hanyangdeahak Ro, Ansan 15588, Gyeonggi Do, South Korea

来源：

INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING | 2020年 / 21卷 / 10期

关键词：

Acrobot; Lyapunov function; Swing-up control; Underactuated mechanical system; MECHANICAL SYSTEMS; STABILIZATION;

D O I：

10.1007/s12541-020-00374-0

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper presents the conditions and PD controller to swing-up the Acrobot to which a spring is attached at the passive joint (first joint). Because the motion of the system is in the vertical plane, there are some system parameters associated with gravity. The range of a spring constant and controller gain that allow the PD controller to swing-up the system is defined depending on these parameter values. To prove that the PD controller makes the system approach the equilibrium points, one of which is swing-up state (upright equilibrium point, UEP), the motion of the first link is analyzed according to the motion of the second link and the torque on the active joint (second joint) with an actuator. Among these equilibrium points, the conditions that can only converge to the UEP of the system are found.

引用

页码：1865 / 1874

页数：10

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