Motion control of a class of underactuated mechanical systems: The acrobot example

被引：0
|
作者：
Xuzhi Lai
Zixing Cai
Jinhua She
机构：
[1] Central South University of Technology,College of Information Engineering
[2] Tokyo University of Engineering,Mechatronics Department
来源：
Journal of Central South University of Technology | 1999年 / 6卷 / 2期
关键词：
acrobot; underactuated mechanical systems; fuzzy control; linear quadratic regulator;
D O I：
10.1007/s11771-999-0016-4
中图分类号：
学科分类号：
摘要：
Presents a control strategy for underactuated mechanical system: the acrobot example, which combines fuzzy control and linear quadratic control. The fuzzy controller designed for the upswing ensures that the energy of the acrobot increases with each swing. After the acrobot enters a neighborhood of the unstable straight-up equilibrium position, a linear quadratic regulator is designed to balance it.
引用
收藏
页码：134 / 137
页数：3
相关论文
共 50 条
  • [21] An Integral Sliding Mode Control Design for a Class of Underactuated Motion Systems
    Xu, Jian-Xin
    Guo, Zhao-Qin
    Lee, Tong Heng
    [J]. IECON 2010 - 36TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2010,
  • [22] Control of underactuated systems: A monocycle example
    de Jager, B
    [J]. MOTION CONTROL (MC'98), 1999, : 61 - 66
  • [23] Decoupling control of a class of underactuated mechanical systems based on sliding mode control
    Park, Mun-Soo
    Chwa, DongKyoung
    Hong, Suk-Kyo
    [J]. 2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13, 2006, : 4509 - +
  • [24] Gain-adapting coupling control for a class of underactuated mechanical systems
    Lu, Biao
    Fang, Yongchun
    [J]. AUTOMATICA, 2021, 125
  • [25] Adaptive sliding mode fuzzy control for a class of underactuated mechanical systems
    Guo, Weiping
    Liu, Diantong
    [J]. ADVANCED INTELLIGENT COMPUTING THEORIES AND APPLICATIONS: WITH ASPECTS OF THEORETICAL AND METHODOLOGICAL ISSUES, 2007, 4681 : 345 - +
  • [26] Quasi-LPV Control Design for a Class of Underactuated Mechanical Systems
    Wang, Bo
    Nersesov, Sergey
    Ashrafiuon, Hashem
    [J]. 2022 AMERICAN CONTROL CONFERENCE, ACC, 2022, : 1904 - 1909
  • [27] Dynamics and Switching Control of a Class of Underactuated Mechanical Systems with Variant Constraints
    Su, Tingting
    Liang, Xu
    He, Guangping
    Jia, Taoming
    Zhao, Quanliang
    Zhao, Lei
    [J]. APPLIED SCIENCES-BASEL, 2019, 9 (20):
  • [28] Synchronization Control for a Class of Underactuated Mechanical Systems via Energy Shaping
    Zhu, Dongfang
    Zhou, Di
    Zhou, Jingyang
    Teo, Kok Lay
    [J]. JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2012, 134 (04):
  • [29] Periodic Trajectory Generation and Tracking Control for a Class of Underactuated Mechanical Systems
    Cheng, Hongtai
    Chen, Heping
    Zhang, Xiaohua
    Gao, Bingtuan
    Chen, Hongjun
    [J]. 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012), 2012,
  • [30] A Simple Approach on Global Control of a Class of Underactuated Mechanical Robotic Systems
    Chen, Tan
    Goodwine, Bill
    [J]. 2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2019, : 5139 - 5145
12345