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Control of acrobot based on non-smooth Lyapunov function and comprehensive stability analysis

Control of acrobot based on non-smooth Lyapunov function and comprehensive stability analysis

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  • Author(s): X.-Z. Lai 1 ; J.-H. She 2 ; S.X. Yang 3 ; M. Wu 1
    • View affiliations
    • Affiliations: 1: School of Information Science and Engineering, Central South University, Changsha, People's Republic of China
      2: School of Bionics, Tokyo University of Technology, Hachioji, Tokyo, Japan
      3: School of Engineering, Advanced Robotics and Intelligent Systems (ARIS) Laboratory, University of Guelph, Guelph, Canada
  • Source: Volume 2, Issue 3, March 2008, p. 181 – 191
    DOI:  10.1049/iet-cta:20060414 , Print ISSN 1751-8644, Online ISSN 1751-8652
© The Institution of Engineering and Technology
Published

A new control strategy for an acrobot based on a non-smooth Lyapunov function to guarantee the stability of the system in the whole motion space is presented. Three control laws are derived based on three Lyapunov functions and are applied successively in three stages of motion control to achieve a suitable posture and to increase the energy so as to make the acrobot move into the area around the unstable upright equilibrium position and to stabilise it at that position. These three Lyapunov functions are combined into one non-smooth function, which theoretically guarantees the stability of the acrobot in the whole motion space.

Inspec keywords: manipulators; Lyapunov methods; motion control; position control; stability

Other keywords: acrobot; comprehensive stability analysis; motion space; Lyapunov function; unstable upright equilibrium position; motion control

Subjects: Manipulators; Spatial variables control; Stability in control theory

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