Swing-up control and avoiding singular problem of an acrobot system

被引：0

作者：

Nam, TK ^{[1
]}

Fukuhara, Y ^{[1
]}

Mita, T ^{[1
]}

Yamakita, M ^{[1
]}

机构：

[1] Korea Electrotechnol Res Inst, Chang Won, South Korea

来源：

SICE 2002: PROCEEDINGS OF THE 41ST SICE ANNUAL CONFERENCE, VOLS 1-5 | 2002年

关键词：

acrobot; swing up; singular problem; backstepping control;

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：

In this paper, we. address the swing up control and the singular problem of an acrobot. We derive a serial system equation from the acceleration constraint that there is no actuator on the first joint. Based on the serial system representation, we propose a swing up and stabilization control algorithm to move the acrobot from its downward equilibrium to its inverted equilibrium position. We will discuss the singularity in control and its avoiding method. Simulation result is also provided to show the effectiveness of the proposed control scheme.

引用

页码：2990 / 2995

页数：6

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