ICAR Research Data Repository for Knowledge Management
A swing-up of the acrobot based on a simple pendulum strategy
DSpace at IIT Bombay
View Archive Info| Field | Value | |
| Title |
A swing-up of the acrobot based on a simple pendulum strategy
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| Creator |
MAHINDRAKAR, AD
BANAVAR, RN |
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| Subject |
mechanical systems
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| Description |
We propose a control law to swing-up the acrobot from an initial domain to a neighbourhood of the vertically upward equilibrium position. The methodology involves reducing the system to a one degree-of-freedom system, much like a simple pendulum, evolving on a critical value of the energy level set. The system is guaranteed to converge to a neighbourhood of the upward equilibrium position about which a linear feedback controller is switched on to stabilize the system.
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| Publisher |
TAYLOR & FRANCIS LTD
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| Date |
2011-08-30T20:31:28Z
2011-12-26T12:59:09Z 2011-12-27T05:50:08Z 2011-08-30T20:31:28Z 2011-12-26T12:59:09Z 2011-12-27T05:50:08Z 2005 |
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| Type |
Article
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| Identifier |
INTERNATIONAL JOURNAL OF CONTROL, 78(6), 424-429
0020-7179 http://dx.doi.org/10.1080/00207170500056835 http://dspace.library.iitb.ac.in/xmlui/handle/10054/12455 http://hdl.handle.net/10054/12455 |
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| Language |
en
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