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

Volume

5

fYear

2002

fDate

5-7 Aug. 2002

Firstpage

3072

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;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE 2002. Proceedings of the 41st SICE Annual Conference

Print_ISBN

0-7803-7631-5

Type

conf

DOI

10.1109/SICE.2002.1195597

Filename

1195597