Nonlinear Control Design for the Acrobot

0088044 - ÚTIA 2008 RIV BR eng C - Conference Paper (international conference)
Zikmund, Jiří - Čelikovský, Sergej - Moog, C.H.
Nonlinear Control Design for the Acrobot.
[Návrh nelineárního řízení pro acrobot.]
Preprints of the 3rd IFAC Symposium on System, Structure and Control. Foz do Iguassu: IFAC, 2007, 1/6-6/6.
[SSSC07. Foz do Iguassu (BR), 17.10.2007-19.10.2007]
R&D Projects: GA ČR(CZ) GA102/05/0011
Grant - others:GA MSM(CZ) 2-06-30
Institutional research plan: CEZ:AV0Z10750506
Source of funding: V - Other public resources
Keywords : Mechanical Systems * exact feedback linearization * underactuated system
Subject RIV: BC - Control Systems Theory

A new control concept for a class of simple underactuated mechanical system, the so-called Acrobot, is presented here. Despite being seemingly simple system, the acrobot comprises many important difficulties when controlling the most challenging underactuated system - the walking robot. This paper presents the exponential stabilization of the acrobot from the wide range of initial positions, much wider than typical local results in the current literature. Moreover, contrary to standard control methods available for stabilization of such systems, the control presented herein provides a large domain of attraction and avoids any switching scheme. This result is achieved thanks to special transformation of the system combined with certain robust stabilization technique. The proposed control is then compared with other approaches based on different transformations and presented in earlier publications. Besides theoretical proofs, our approach is supported by numerical simulations.

Práce se zabývá stabilizací acrobotu, což je jednoduchý mechanický podaktuovaný systém. Kombinuje metodu speciálních nelineaárních transformací rovnic modelu a následné robustní techniky. Simulace ukazují velmi přijatelné chování stabilizujícího regulátoru.
Permanent Link: http://hdl.handle.net/11104/0149719