New analytical results of the energy based swinging up control of the Acrobot
New analytical results of the energy based swinging up control of the Acrobot
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DOI：
10.1109/cdc.2004.1428728
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发表时间：
2004
期刊：
影响因子：
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通讯作者：
Xin Xin-Xin;M. Kaneda
中科院分区：
文献类型：
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作者：
Xin Xin-Xin;M. Kaneda
本文解决了 Acrobot 的基于能量的摆动控制问题，这是欠驱动机械系统的典型例子。本文对 Acrobot 的能量收敛和运动进行了完整的分析。并清楚地说明了 Acrobot 闭环系统在能量控制下的几个独特特性。具体来说，本文清楚地展示了如何选择控制参数，使得从任何初始状态开始，Acrobot 最终要么摆动到直立平衡点的任意小邻域，要么保持在向下平衡点，这对于闭环系统来说是不稳定的。这从理论上证明了基于能量的控制对于Acrobot的摆动是有效的。
This paper addresses the energy based swinging up control problem of the Acrobot, which is a typical example of underactuated mechanical systems. This paper provides a complete analysis of the convergence of the energy and the motion of the Acrobot. and illustrates clearly several unique characteristics of the closed-loop system of the Acrobot under the energy based control. Specifically, this paper shows clearly how to choose the control parameters such that starting from any initial state, the Acrobot will eventually either be swung up to an arbitrarily small neighborhood of the upright equilibrium point, or remain at the downward equilibrium point which is shown to be unstable for the closed-loop system. This proves theoretically that the energy-based control is effective for swinging up the Acrobot.