Record Details

A non-smooth control law and time-optimality notions for the acrobot

DSpace at IIT Bombay

View Archive Info
 
 
Field Value
 
Title A non-smooth control law and time-optimality notions for the acrobot
 
Creator BANAVAR, RN
MAHINDRAKAR, AD
 
Subject robotic manipulators
systems
 
Description We propose a discontinuous control law to pump energy into the acrobot system to place the system at a certain energy level. Filippov calculus is used to establish convergence of the system trajectory to the desired energy set. The bang - bang nature of the control law prompts us to investigate whether the energy is pumped in minimum time. We then present necessary conditions for time optimality.
 
Publisher TAYLOR & FRANCIS LTD
 
Date 2011-08-30T19:44:37Z
2011-12-26T12:59:08Z
2011-12-27T05:50:06Z
2011-08-30T19:44:37Z
2011-12-26T12:59:08Z
2011-12-27T05:50:06Z
2005
 
Type Article
 
Identifier INTERNATIONAL JOURNAL OF CONTROL, 78(15), 1166-1173
0020-7179
http://dx.doi.org/10.1080/00207170500197548
http://dspace.library.iitb.ac.in/xmlui/handle/10054/12443
http://hdl.handle.net/10054/12443
 
Language en