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
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;
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
DOI :
10.1109/ICNSC.2007.372839
