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
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