Motion planning and tracking control for an acrobot based on a rewinding approach

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• 作者：Ancai Zhang^a ; ^b ; ^c ; ^{zhangancai123@hotmail.com}Author Vitae ; Jinhua She^b ; ^{she@stf.teu.ac.jp}Author Vitae ; Xuzhi Lai^a ; ^c ; ¹ ; ^{xuzhi@csu.edu.cn}Author Vitae ; Min Wu^a ; ^c ; ^{min@csu.edu.cn}Author Vitae
• 关键词：Acrobot ; Artificial friction ; Motion planning ; Pole assignment ; Rewinding approach ; Time-varying system
• 刊名：Automatica
• 出版年：2013
• 出版时间：January, 2013
• 年：2013
• 卷：49
• 期：1
• 页码：278-284
• 全文大小：760 K

文摘

This paper concerns motion planning and tracking control for an acrobot. We first introduce an artificial friction torque in order to construct a downward trajectory, and rewind it to make an upward trajectory. Then, we combine the upward trajectory with a stabilizing trajectory to make a complete trajectory. Finally, we use the pole assignment method to design a tracking controller that makes the acrobot exponentially track the whole trajectory. This enables the acrobot to be swung up from the straight-down position and stabilized at the straight-up position. Unlike the most commonly used switching stabilization control methods, the strategy presented here features a single controller for motion control in the whole motion space. It is simple and efficient. Simulation results demonstrate the validity of the method.