Energy-based swing-up of the acrobot and time-optimal motion

Author

Banavar, Ravi N. ; Mahindrakar, Amn D.

Author_Institution

Syst. & Control Eng., Indian Inst. of Technol., Mumbai, India

Volume

1

fYear

2003

fDate

23-25 June 2003

Firstpage

706

Abstract

We present a control law for the swing-up of an acrobot with torque constraints on the actuator. The domain of the initial condition for the strategy to work is the entire manifold and we further guarantee that the system reaches a small neighbourhood about the upward equilibrium position. For a restricted domain of the initial condition, we observe that the control law is bang-bang in nature. This motivates us to verify the time-optimality of the control strategy. Necessary conditions for time-optimality are presented and these are subsequently verified numerically.

Keywords

bang-bang control; minimum principle; motion control; robot dynamics; time optimal control; Pontryagin minimum principle; acrobot; actuator torque constraints; bang-bang control law; energy based control; initial condition domain; motion control; necessary conditions; swing-up control; time optimal control; time optimal motion; upward equilibrium position; Actuators; Control engineering; Control systems; Energy states; Equations; Lyapunov method; Manifolds; Motion control; Optimal control; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on

Print_ISBN

0-7803-7729-X

Type

conf

DOI

10.1109/CCA.2003.1223524

Filename

1223524