Existence and Design of Strongly Stabilizing Controller for the Acrobot
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.
Strong stabilization stable controller Acrobot pole zero underactuated mechanical systems
Xin XIN Kousuke JUURI
Faculty of Computer Science and Systems Engineering, Okayama Prefectural University111 Kuboki, Soja, Inspection Department, Okayama Medicine Inspection Center Sasaoki 468-5, Kurashiki, Okayama 710-0834
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
1446-1451
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）