Please use this identifier to cite or link to this item:
http://bibdigital.epn.edu.ec/handle/15000/9303
Title: | Hybrid Second-Order Sliding-Mode Tracking Control for Acrobot |
Authors: | Puga, Sergio A. Aguilar, Luis T. |
Keywords: | ACROBOT SISTEMAS DE CONTROL |
Issue Date: | 9-Mar-2007 |
Abstract: | 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 |
Type: | Article |
Appears in Collections: | 2005 International Conference on Industrial Electronics and Control Applications (FIEE) |
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