Theoretical and Experimental Results of Energy Based Swinging up Control for a Remotely Driven Acrobot
| Authors: | Xin Xin, Okayama Prefectural University, Japan
Kaneda Masahiro, Okayama Prefectural University, Japan
Yamasaki Taiga, Okayama Prefectural University, Japan
Omasa Kazuhisa, Okayama Prefectural University, Japan |
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| Topic: | 4.3 Robotics |
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| Session: | Robot Control II |
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| Keywords: | Robot control, Nonlinear control, Stability, Lyapunov methods, the Acrobot, Underactuated system, Swing up control, Energy control, Control system analysis |
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Abstract
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.
