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http://bibdigital.epn.edu.ec/handle/15000/9303
Título: | Hybrid Second-Order Sliding-Mode Tracking Control for Acrobot |
Autor: | Puga, Sergio A. Aguilar, Luis T. |
Palabras clave: | ACROBOT SISTEMAS DE CONTROL |
Fecha de publicación: | 9-mar-2007 |
Resumen: | In this paper we propose a variable structure controller to solve the tracking control problem of Acrobot. The controller consists of a swing-up phase and a stabilization phase. The desired trajectory is centered at the upright position, while the Acrobot starts from the stable position. A stability analysis of the closed-loop dynamic system in question was performed within the framework of Lyapunov functions. Simulation results show the effectiveness of the proposed controller. Index Terms—Acrobot, twisting algorithm, switching control. |
URI: | http://bibdigital.epn.edu.ec/handle/15000/9303 |
Tipo: | Article |
Aparece en las colecciones: | 2005 International Conference on Industrial Electronics and Control Applications (FIEE) |
Ficheros en este ítem:
Fichero | Descripción | Tamaño | Formato | |
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P0105.pdf | 547,58 kB | Adobe PDF | Visualizar/Abrir |
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