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
收藏
页码：424 / 429
页数：6
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