Motion control of a class of underactuated mechanical systems: The acrobot example

Xuzhi Lai , Zixing Cai , Jinhua She

Journal of Central South University ›› 1999, Vol. 6 ›› Issue (2) : 134 -137.

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Journal of Central South University ›› 1999, Vol. 6 ›› Issue (2) : 134 -137. DOI: 10.1007/s11771-999-0016-4
Mining, Materials And Information Engineering

Motion control of a class of underactuated mechanical systems: The acrobot example

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Abstract

Presents a control strategy for underactuated mechanical system: the acrobot example, which combines fuzzy control and linear quadratic control. The fuzzy controller designed for the upswing ensures that the energy of the acrobot increases with each swing. After the acrobot enters a neighborhood of the unstable straight-up equilibrium position, a linear quadratic regulator is designed to balance it.

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acrobot / underactuated mechanical systems / fuzzy control / linear quadratic regulator

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Xuzhi Lai,Zixing Cai,Jinhua She. Motion control of a class of underactuated mechanical systems: The acrobot example. Journal of Central South University, 1999, 6(2): 134-137 DOI:10.1007/s11771-999-0016-4

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