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Motion planning and tracking control for an acrobot based on a rewinding approach
- Source :
-
Automatica . Jan2013, Vol. 49 Issue 1, p278-284. 7p. - Publication Year :
- 2013
-
Abstract
- Abstract: This paper concerns motion planning and tracking control for an acrobot. We first introduce an artificial friction torque in order to construct a downward trajectory, and rewind it to make an upward trajectory. Then, we combine the upward trajectory with a stabilizing trajectory to make a complete trajectory. Finally, we use the pole assignment method to design a tracking controller that makes the acrobot exponentially track the whole trajectory. This enables the acrobot to be swung up from the straight-down position and stabilized at the straight-up position. Unlike the most commonly used switching stabilization control methods, the strategy presented here features a single controller for motion control in the whole motion space. It is simple and efficient. Simulation results demonstrate the validity of the method. [Copyright &y& Elsevier]
Details
- Language :
- English
- ISSN :
- 00051098
- Volume :
- 49
- Issue :
- 1
- Database :
- Academic Search Index
- Journal :
- Automatica
- Publication Type :
- Academic Journal
- Accession number :
- 84360938
- Full Text :
- https://doi.org/10.1016/j.automatica.2012.10.007