The paper deals with the sampled-data asymptotic stabilization of the Acrobot at its upward equilibrium. The proposed controller results from the action of an Input-Hamiltonian-Matching (IHM) strategy that shapes the closed-loop energy combined with a Damping Injection (DI) feedback designed on the sampled-data equivalent model. Simulations show the effectiveness of the proposed controller.
Stabilization of the Acrobot via sampled-data passivity-based control / Mattioni, M.; Moreschini, A.; Monaco, S.; Normand-Cyrot, D.. - (2022), pp. 699-704. (Intervento presentato al convegno 2022 European Control Conference, ECC 2022 tenutosi a London; United Kingdom) [10.23919/ECC55457.2022.9838198].
Stabilization of the Acrobot via sampled-data passivity-based control
Mattioni M.
;Moreschini A.;Monaco S.;
2022
Abstract
The paper deals with the sampled-data asymptotic stabilization of the Acrobot at its upward equilibrium. The proposed controller results from the action of an Input-Hamiltonian-Matching (IHM) strategy that shapes the closed-loop energy combined with a Damping Injection (DI) feedback designed on the sampled-data equivalent model. Simulations show the effectiveness of the proposed controller.| File | Dimensione | Formato | |
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