シャ　キンカ   Jinhua She   佘　錦華    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2013/01
形態種別	学術論文
査読	査読あり
標題	Motion planning and tracking control for acrobot based on a rewinding approach
執筆形態	共著
掲載誌名	Automatica
出版社・発行元	Elsevier
巻・号・頁	49(1),pp.278-284
著者・共著者	Ancai Zhang, Jinhua She, Xuzhi Lai, and Min Wu
概要	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.
DOI	10.1016/j.automatica.2012.10.007
論文（査読付）ファイル	DOWNLOAD