We present a new approach for the control of the Acrobot, an interesting example of underactuated mechanical system. In particular, our objective is to transfer the system state from the downward equilibrium to the inverted equilibrium position. The proposed method prescribes the execution of three phases. In the first two phases, the robot is preliminarily swung up using an open-loop input and then driven by a suitable feedback to the inverted equilibrium manifold. In the last phase, the Acrobot is steered along this manifold to the inverted equilibrium position, under the action of a robust feedback controller based on the iterative state steering technique. Simulation results are given to show the performance of the method.

Stabilization of the Acrobot via iterative state steering / DE LUCA, Alessandro; Oriolo, Giuseppe. - 4:(1998), pp. 3581-3587. (Intervento presentato al convegno Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4) tenutosi a Leuven, Belgium nel 16 May 1998 through 20 May 1998) [10.1109/robot.1998.681023].

Stabilization of the Acrobot via iterative state steering

DE LUCA, Alessandro;ORIOLO, Giuseppe
1998

Abstract

We present a new approach for the control of the Acrobot, an interesting example of underactuated mechanical system. In particular, our objective is to transfer the system state from the downward equilibrium to the inverted equilibrium position. The proposed method prescribes the execution of three phases. In the first two phases, the robot is preliminarily swung up using an open-loop input and then driven by a suitable feedback to the inverted equilibrium manifold. In the last phase, the Acrobot is steered along this manifold to the inverted equilibrium position, under the action of a robust feedback controller based on the iterative state steering technique. Simulation results are given to show the performance of the method.
1998
Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4)
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
Stabilization of the Acrobot via iterative state steering / DE LUCA, Alessandro; Oriolo, Giuseppe. - 4:(1998), pp. 3581-3587. (Intervento presentato al convegno Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4) tenutosi a Leuven, Belgium nel 16 May 1998 through 20 May 1998) [10.1109/robot.1998.681023].
File allegati a questo prodotto
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/243439
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 24
  • ???jsp.display-item.citation.isi??? 18
social impact