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Energy-based swing-up of the acrobot and time-optimal motion

DSpace at IIT Bombay

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Title Energy-based swing-up of the acrobot and time-optimal motion
 
Creator BANAVAR, RN
MAHINDRAKAR, AD
 
Subject robotic manipulators
nonholonomic systems
underactuated manipulator
energy-based control
time-optimal
 
Description We present a control law for the swing-up of an acrobot with torque constraints on the actuator. The domain of the initial condition for the strategy to work is the entire manifold and we further guarantee that the system reaches a small neighbourhood about the upward equilibrium position. For a restricted domain of the initial condition, we observe that the control law is bang-bang in nature. This motivates us to verify the time-optimality of the control strategy. Necessary conditions for time-optimality are presented and these are subsequently verified numerically.
 
Publisher IEEE
 
Date 2011-10-26T20:43:16Z
2011-12-15T09:12:30Z
2011-10-26T20:43:16Z
2011-12-15T09:12:30Z
2003
 
Type Proceedings Paper
 
Identifier CCA 2003: PROCEEDINGS OF 2003 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 AND 2,706-711
0-7803-7729-X
http://dspace.library.iitb.ac.in/xmlui/handle/10054/16121
http://hdl.handle.net/100/2702
 
Source IEEE Conference on Control Applications,ISTANBUL, TURKEY,JUN 23-25, 2003
 
Language English