Control System Design of the Acrobot Based on a Variable-Length Pendulum Model

摘要：

In this paperCa nonlinear control system of the Acrobot which is a two-link underactuated system is designedDThe proposed method is a swing-up and stabilizing control of the Acrobot with model of a variable-length pendulum. The effectiveness of the proposed method is confirmed by a simulation.

作者: Mingcong Deng Akira Inoue Kaoru Morii

作者单位: Department of Systems Engineering Okayama University 3-1-1 Tsushima-Naka, Okayama 700-8530, Japan

会议类型: 国际会议

会议名称: Fourth International Conference on Impulsive and Hybrid Dynamical Systems(ICIHDS 2007)(第四届国际脉冲和混合动力系统学术会议)

会议地点: 南宁

会议语种:英文

在线出版日期: 2007-07-20（万方平台首次上网日期，不代表论文的发表时间）