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dc.contributor.authorPuga, Sergio A.es_ES
dc.contributor.authorAguilar, Luis T.es_ES
dc.date.accessioned2007-03-09T19:15:49Zes_ES
dc.date.accessioned2010-09-07T16:32:50Zes_ES
dc.date.accessioned2011-03-10T14:33:26Z-
dc.date.available2007-03-09T19:15:49Zes_ES
dc.date.available2010-09-07T16:32:50Zes_ES
dc.date.available2011-03-10T14:33:26Z-
dc.date.issued2007-03-09T19:15:49Zes_ES
dc.identifier.urihttp://bibdigital.epn.edu.ec/handle/15000/9303es_ES
dc.description.abstractIn 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.es_ES
dc.language.isoenges_ES
dc.rightsopenAccess-
dc.rights.urihttps://creativecommons.org/licenses/by-nc-nd/4.0/-
dc.subjectACROBOTes_ES
dc.subjectSISTEMAS DE CONTROLes_ES
dc.subject.otherACROBOTes_ES
dc.subject.otherCONTROL SYSTEMSes_ES
dc.titleHybrid Second-Order Sliding-Mode Tracking Control for Acrobotes_ES
dc.typeArticlees_ES
Aparece en las colecciones:2005 International Conference on Industrial Electronics and Control Applications (FIEE)

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