Swing-up control of an Acrobot having a limited range of joint angle of two links

2004 5th Asian Control Conference

Volumn 2, Issue , 2004, Pages 1071-1076

  Henmi, Tomohiro ^a   Wada, Takahiko ^a   Deng, Mingcong ^a   Inoue, Akira ^a   Ueki, Nobuyuki ^a   Hirashima, Yoichi ^a  

^a OKAYAMA UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; MATHEMATICAL MODELS; MECHANICS; PROBLEM SOLVING; ROBOTS; SET THEORY;

CONTROL LAWS; CONTROL SCHEMES; SPACE ROBOTS; UNDER-ACTUATED SYSTEMS;

NONLINEAR CONTROL SYSTEMS;

EID: 16244363055     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (7)

1. Mark W. Spong, The Swing Up Control Problem For The Acrobot, IEEE Control Systems Magazine, Vol. 15, pp. 49-55, 1995.
2. Matthew D. Berkemeir and Ronald S. Fearing, Tracking Fast Inverted Trajectories of the Underactuated Acrobot, IEEE Transactions on Robotics and Automation, Vol. 15, pp. 740-750, 1999.
3. Xin Xin and Masahiro Kaneda, The Swing up Control for the Acrobot based on Eneregy Control Approach, Las vegas, Dec.9-16, 2002, Proc. of the 41st IEEE Conference Decision and Control, pp. 3261-3266.
4. Isabell Fantoni, Rogelio Lozano, and Mark W. Spong, Energy Based Control of the Pendubot, IEEE Transactions on Automatic Control, Vol.45, pp. 725-729, 2000.
5. The gymnastics study group of Kyoto University, Gymnastics research, Co. Ltd., Times, 1984 (in Japanese).
6. Masao Takamoto and Kazuo Abe, Apparatus gymnastics, Poplar publishing, 1977 (in Japanese).
7. Yasuyuki Ishida, Gradual instruction of Apparatus gymnastics, Fumaido publishing, 1976 (in Japanese).