کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
696798 | 890347 | 2013 | 7 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: Motion planning and tracking control for an acrobot based on a rewinding approach Motion planning and tracking control for an acrobot based on a rewinding approach](/preview/png/696798.png)
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.
Journal: Automatica - Volume 49, Issue 1, January 2013, Pages 278–284