STABILIZATION OF ACROBOT AFTER LANDING

被引：0
|
作者：
Kozlowski, Krzysztof [1 ]
Michalski, Mateusz [1 ]
Parulski, Pawel [1 ]
机构：
[1] Poznan Univ Tech, Chair Control & Syst Engn, PL-61138 Poznan, Poland
来源：
MOBILE SERVICE ROBOTICS | 2014年
关键词：
UNDERACTUATED MECHANICAL SYSTEMS; SYMMETRY;
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 aim of this paper is to verify whether the well known control algorithms for double inverted pendulum could be used for stabilization of the Acrobot after impact. Both methods utilize feedback linearization techniques. The first control algorithm is based on careful selection of output function that leads to a proper relative degree of the system. The second approach makes use of system's kinetic symmetry property with backstepping procedure.
引用
收藏
页码：617 / 624
页数：8
相关论文
共 50 条
  • [21] Intelligent Control for an Acrobot
    Scott C. Brown
    Kevin M. Passino
    [J]. Journal of Intelligent and Robotic Systems, 1997, 18 : 209 - 248
  • [22] AFTER LUNAR LANDING - INTRODUCTION
    LEWIS, RS
    [J]. BULLETIN OF THE ATOMIC SCIENTISTS, 1969, 25 (07) : 2 - 2
  • [23] AFTER MANNED LUNAR LANDING
    ABELSON, PH
    [J]. SCIENCE, 1965, 150 (3696) : 557 - &
  • [24] Stabilization with imprecise measurements: application to a vision based landing problem
    Mazenc, Frederic
    Burlion, Laurent
    Gibert, Victor
    [J]. 2018 ANNUAL AMERICAN CONTROL CONFERENCE (ACC), 2018, : 2978 - 2983
  • [25] On the Adaptive Control of the Acrobot
    Gnucci, Manuel
    Marino, Riccardo
    [J]. 2019 18TH EUROPEAN CONTROL CONFERENCE (ECC), 2019, : 3438 - 3443
  • [26] Quotient method for controlling the acrobot
    Willson, S. S.
    Mullhaupt, Philippe
    Bonvin, Dominique
    [J]. PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009), 2009, : 1770 - 1775
  • [27] LOOKING FOR A SOFT LANDING AFTER HYPERGROWTH
    不详
    [J]. ELECTRONICS, 1989, 62 (01): : 54 - 57
  • [28] Stabilization of a nonlinear system that arises in the context of vision based landing of an airliner
    Mazenc, Frederic
    Burlion, Laurent
    Gibert, Victor
    [J]. 2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2018, : 5313 - 5318
  • [29] Stabilization for a chain of saturating integrators arising in the visual landing of aircraft with sampling
    Burlion, Laurent
    Malisoff, Michael
    Mazenc, Frederic
    [J]. SYSTEMS & CONTROL LETTERS, 2020, 135
  • [30] Altitude Stabilization in Unmanned Vertical Take-off/Landing Aircraft
    Supsukbaworn, Thanakorn
    Lin, Chin E.
    [J]. IECON 2014 - 40TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2014, : 71 - 76
12345