Swing up control for the acrobot considering compliance of high bar and energy interaction with each component

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2007, Pages 1929-1936

  Anami, Ryuichi ^a   Nakaura, Shigeki ^a   Sampei, Mitsuji ^a  

^a TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; CONTROL SYSTEMS; MOTION CONTROL; NUMERICAL METHODS;

ENERGY INTERACTION; GYMNASTICS;

ROBOTS;

EID: 55549112910     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2007.4434995     Document Type: Conference Paper

References (6)

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3. Mark W. Spong, The swing up control problem for the Acrobot. Control Systems Magazine, IEEE, vol. 15, issue 1, 1995, pp49-54.
4. Adamantios Arampatzis and Gert-Peter Brüggemann, A mathematical high bar-human body model for analysing and interpreting mechanical-energetic processes on the high bar. Journal of Biomechanics, vol. 31, issue 12, 1998, pp1083-1092.
5. S. Nakaura, N. Shiraishi and M. Sampei, Analysis of compliance effect for swing up control. Preprint of 3rd IFAC-Symposium on Mechatronic Systems, 2004, pp337-342.
6. Eugene I Butikov, Parametric excitation of a linear oscillator Eur. J. Phys., vol. 25, 2004, pp535-554.