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Existence and design of strongly stabilizing controller for the Acrobot.
- Source :
- Proceedings of the 31st Chinese Control Conference; 1/ 1/2012, p1446-1451, 6p
- Publication Year :
- 2012
-
Abstract
- This paper concerns the strong stabilization for a typical example of underactuated robots called Acrobot, which is two-link underactuated planar robot with a single actuator driving the relative angle of two links. This paper shows the existence of strongly stabilizing controllers for the upright equilibrium point of the Acrobot by designing a specific output and employing the pole-zero relation of the linearized model around the equilibrium point. The paper presents a design method for the controllers. In terms of strong stabilization, some new features of the Acrobot are revealed and are compared with those of the cart-pendulum system. Simulation results are presented to validate the theoretical results. [ABSTRACT FROM PUBLISHER]
Details
- Language :
- English
- ISBNs :
- 9781467325813
- Database :
- Complementary Index
- Journal :
- Proceedings of the 31st Chinese Control Conference
- Publication Type :
- Conference
- Accession number :
- 86628453