Hybrid second-order sliding-mode tracking control for Acrobot

Author

Puga, Sergio A. ; Aguilar, Luis T.

Author_Institution

Centro de Investigation y Desarrollo de Tecnologia Digital, Tijuana

fYear

0

fDate

0-0 0

Lastpage

6

Abstract

In this paper we propose a variable structure controller to solve the tracking control problem of Acrobot. The controller consists of a swing-up phase and a stabilization phase. The desired trajectory is centered at the upright position, while the Acrobot starts from the stable position. A stability analysis of the closed-loop dynamic system in question was performed within the framework of Lyapunov functions. Simulation results show the effectiveness of the proposed controller

Keywords

Lyapunov methods; closed loop systems; mobile robots; motion control; position control; stability; time-varying systems; variable structure systems; Acrobot; Lyapunov functions; closed-loop dynamic system; hybrid second-order sliding-mode tracking control; stabilization phase; swing-up phase; variable structure controller; Control systems; Convergence; Legged locomotion; Linear feedback control systems; Lyapunov method; Nonlinear control systems; Robot kinematics; Sliding mode control; Stability analysis; Vehicle dynamics; Acrobot; switching control; twisting algorithm;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Control Applications, 2005. ICIECA 2005. International Conference on

Conference_Location

Quito

Print_ISBN

0-7803-9419-4

Type

conf

DOI

10.1109/ICIECA.2005.1644341

Filename

1644341