Global Stabilization Control of Acrobot Based on Equivalent-Input-Disturbance Approach

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• 作者：Ancai Zhang^* ; ^{zhangancai123@hotmail.com" class="auth_mail" title="E-mail the corresponding author} ; Jinhua She^** ; ^{she@cs.teu.ac.jp" class="auth_mail" title="E-mail the corresponding author} ; Xuzhi Lai^* ; ^{xuzhi@mail.csu.edu.cn" class="auth_mail" title="E-mail the corresponding author} ; Min Wu^* ; ^{min@csu.edu.cn" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Acrobot ; Global stabilization ; Underactuated system ; Equivalent-input-disturbance (EID)
• 刊名：IFAC-PapersOnLine
• 出版年：2011
• 出版时间：January 2011
• 年：2011
• 卷：44
• 期：1
• 页码：14596-14601
• 全文大小：262 K

文摘

This paper concerns the global stabilization control of an underactuated two-link acrobot in a vertical plane using a new control method based on an equivalent-input-disturbance (EID) approach. The design procedure consists of two steps: (1) A homeomorphous coordinate transformation transforms the acrobot system into a new nonlinear system. (2) The new system is divided into linear and nonlinear parts, and the nonlinear part is taken to be an artificial disturbance. Then, the EID-based approach is used to globally and asymptotically stabilize the system at the origin. This method enables the acrobot to be swung up from any initial position and balanced at the straight-up position. Unlike the most commonly used switching control method, ours features a single controller for both swing-up and balancing control. Simulation results demonstrate the validity of the method.