DocumentCode
2842413
Title
Swing-up and stabilizing control system design for an Acrobot
Author
Inoue, A. ; Deng, M. ; Hara, S. ; Henmi, T.
Author_Institution
Okayama Univ., Tsushima-Naka
fYear
2007
fDate
15-17 April 2007
Firstpage
559
Lastpage
561
Abstract
This paper proposes a control system design for an Acrobot. The proposed control system consists of two controllers, namely, swing-up controller and stabilizing controller. In the swing-up, the two links are swinging at the top simultaneously. After the swing-up, the controller also stabilizes both of the two links. Numerical simulation is given to show the effectiveness of the proposed scheme.
Keywords
control system synthesis; motion control; robot dynamics; stability; acrobot; stabilizing control system; stabilizing controller; swing-up controller; Control systems; Design engineering; Educational institutions; Hydrogen; Linear feedback control systems; Motion control; Nonlinear control systems; Numerical simulation; Systems engineering and theory; Weight control; Acrobot; energy control; partial feedback linearization; simultaneous swing-up; stabilization;
fLanguage
English
Publisher
ieee
Conference_Titel
Networking, Sensing and Control, 2007 IEEE International Conference on
Conference_Location
London
Print_ISBN
1-4244-1076-2
Electronic_ISBN
1-4244-1076-2
Type
conf
DOI
10.1109/ICNSC.2007.372839
Filename
4239052
Link To Document