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
  • [41] Stabilization and Robustness Analysis for a Chain of Saturating Integrators Arising in the Visual Landing of Aircraft
    Burlion, Laurent
    Malisoff, Michael
    Mazenc, Frederic
    [J]. 2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC), 2019, : 7013 - 7018
  • [42] Abnormal landing strategies after ACL reconstruction
    Gokeler, A.
    Hof, A. L.
    Arnold, M. P.
    Dijkstra, P. U.
    Postema, K.
    Otten, E.
    [J]. SCANDINAVIAN JOURNAL OF MEDICINE & SCIENCE IN SPORTS, 2010, 20 (01) : E12 - E19
  • [43] Control of acrobot based on Lyapunov function
    Lai, XZ
    Wu, M
    She, JH
    [J]. JOURNAL OF CENTRAL SOUTH UNIVERSITY OF TECHNOLOGY, 2004, 11 (02): : 210 - 215
  • [44] ''Acrobot'' capable of delicate knee surgery
    不详
    [J]. CANADIAN MEDICAL ASSOCIATION JOURNAL, 1997, 156 (12) : 1690 - 1690
  • [45] Control of acrobot based on Lyapunov function
    赖旭芝
    吴敏
    佘锦华
    [J]. Journal of Central South University, 2004, (02) : 210 - 215
  • [46] Minimum-time control of the acrobot
    Boone, G
    [J]. 1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4, 1997, : 3281 - 3287
  • [47] Nonlinear Swing down Control of the Acrobot
    Xin, Xin
    Sakurai, Maki
    Izumi, Shinsaku
    Yamasaki, Taiga
    She, Jinhua
    Liu, Yannian
    [J]. IFAC PAPERSONLINE, 2020, 53 (02): : 5813 - 5818
  • [48] Control of acrobot based on lyapunov function
    Xu-zhi Lai
    Min Wu
    Jin-hua She
    [J]. Journal of Central South University of Technology, 2004, 11 : 210 - 215
  • [49] Major Facial Trauma After Helicopter Landing
    Becelli, Roberto
    Morello, Roberto
    Renzi, Giancarlo
    Matarazzo, Giorgio
    Dominici, Chiara
    [J]. JOURNAL OF CRANIOFACIAL SURGERY, 2011, 22 (04) : 1517 - 1519
  • [50] FOOT MOVEMENT DURING LANDING AFTER A JUMP
    STACOFF, A
    KALIN, X
    STUSSI, E
    SEGESSER, B
    [J]. ZEITSCHRIFT FUR ORTHOPADIE UND IHRE GRENZGEBIETE, 1990, 128 (02): : 213 - 217
12345