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• W2140034347 abstract "This paper concerns motion planning and tracking control for an acrobot. We first introduce an artificial friction torque in order to construct a downward trajectory, and rewind it to make an upward trajectory. Then, we combine the upward trajectory with a stabilizing trajectory to make a complete trajectory. Finally, we use the pole assignment method to design a tracking controller that makes the acrobot exponentially track the whole trajectory. This enables the acrobot to be swung up from the straight-down position and stabilized at the straight-up position. Unlike the most commonly used switching stabilization control methods, the strategy presented here features a single controller for motion control in the whole motion space. It is simple and efficient. Simulation results demonstrate the validity of the method." @default.
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• W2140034347 date "2013-01-01" @default.
• W2140034347 modified "2023-09-24" @default.
• W2140034347 title "Motion planning and tracking control for an acrobot based on a rewinding approach" @default.
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• W2140034347 doi "https://doi.org/10.1016/j.automatica.2012.10.007" @default.
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