Title :
Swing-up and balancing control of acrobot
Author :
Kobayashi, Toshimitsu ; Komine, Takayoshi ; Suzuki, Satoshi ; Iwase, Masami ; Furuta, Katsuhisa
Author_Institution :
Major of Comput. & Syst. Eng., Tokyo Denki Univ., Saitama, Japan
Abstract :
This paper proposes two kinds of control strategy for swinging-up and keeping a two-link acrobot at the upright position. One is based on energy control, and the other is based on a linear feedback control so that the poles of the closed-loop system are assigned to make the pendant position unstable and the upright position stable. Two different linear feedback control laws are used in the course of the swing-up and balancing of the acrobot at the upright position. The proposed strategies are evaluated by the simulation.
Keywords :
control system synthesis; feedback; linear matrix inequalities; mechanical variables control; mobile robots; motion control; optimal control; pole assignment; position control; stability; balancing control; closed-loop system; energy control; linear feedback control; linear matrix inequality; optimal regulator; pendant position instability; pole assignment; simulation; swing-up control; two-link acrobot; upright position; Animals; Control systems; Feedback control; Gravity; Humans; Lighting control; Linear feedback control systems; Modeling; State feedback; Systems engineering and theory;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195597
