Swing Up Control of Acrobot based on Switched Output Functions

Toshiyasu Yonemura; Masaki Yamakita

doi:10.11499/sicep.2004.0_59_5

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_59_5

会議情報

主催: The Society of Instrument and Control Engineers

共催: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

Swing Up Control of Acrobot based on Switched Output Functions

Toshiyasu Yonemura, *Masaki Yamakita

著者情報

キーワード: Swing up control, Acrobot, Output zeroing

会議録・要旨集フリー

p. 59

詳細

抄録

In this paper, we propose a control algorithm for the problem of swing up control of Acrobot in upright position. In a conventional algorithm a singularity problem exits. For this singularity problem, we propose an algorithm that the output function is controlled to track a desired trajectory and the coordinate transformation is changed by switching the output function.

責任著者(Corresponding author)

J-STAGEへの登録はこちら（無料）