Por favor, use este identificador para citar o enlazar este ítem: 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
Aparece en las colecciones: 2005 International Conference on Industrial Electronics and Control Applications (FIEE)

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