A swing-up of the acrobot based on a simple pendulum strategy

被引：23

作者：

Mahindrakar, AD ^{[1
]}

Banavar, RN ^{[1
]}

机构：

[1] Indian Inst Technol, Bombay 400076, Maharashtra, India

来源：

INTERNATIONAL JOURNAL OF CONTROL | 2005年 / 78卷 / 06期

关键词：

D O I：

10.1080/00207170500056835

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We propose a control law to swing-up the acrobot from an initial domain to a neighbourhood of the vertically upward equilibrium position. The methodology involves reducing the system to a one degree-of-freedom system, much like a simple pendulum, evolving on a critical value of the energy level set. The system is guaranteed to converge to a neighbourhood of the upward equilibrium position about which a linear feedback controller is switched on to stabilize the system.

引用

页码：424 / 429

页数：6

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