Theoretical and Experimental Results of Energy Based Swinging up Control for a Remotely Driven Acrobot
نویسندگان
چکیده
The swinging up control for a remotely driven Acrobot (RDA) is studied and an energy based controller is designed via the Lyapunov stability theory. The analysis of convergence of the energy as well as the motion of the RDA under the controller is presented. The conditions on control parameters for achieving a successful swinging up control are given. Furthermore, simulation and experimental results are provided to validate the presented theoretical results. Copyright c © 2005 IFAC
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تاریخ انتشار 2005