Controller design and global stability analysis of acrobot

被引：1

作者：

Lai, Xu-Zhi ^{[1
]}

Wu, Min ^{[1
]}

She, Jin-Hua ^{[2
]}

Yang, Simon X ^{[3
]}

机构：

[1] School of Information Science and Engineering, Central South University

[2] School of Bionics, Tokyo University of Technology

[3] School of Engineering, University of Guelph

来源：

Zidonghua Xuebao/Acta Automatica Sinica | 2007年 / 33卷 / 07期

关键词：

Acrobot; Fuzzy control; LaSalle invariant principle; Non-smooth Lyapunov function; Stability;

D O I：

10.1360/aas-007-0719

中图分类号：

学科分类号：

摘要：

This paper presents a controller design and global stability analysis of acrobots based on non-smooth Lyapunov functions. Three control laws that are derived based on three Lyapunov functions are applied successively to achieve a suitable posture and increase the energy so as to stabilize the acrobot at an unstable inverted equilibrium position. LaSalle invariant theorem and non-smooth Lyapunov function are employed to theoretically guarantee the stability of the acrobot in the whole motion space. Simulation results have demonstrated the validity of this strategy.

引用

页码：719 / 725

页数：6

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