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	2015/12
形態種別	学術論文
査読	査読あり
標題	Stabilization of Underactuated Planar Acrobot Based on Motion-State Constraints
執筆形態	共著
掲載誌名	International Journal of Non-Linear Mechanics
掲載区分	国外
出版社・発行元	Elsevier
巻・号・頁	77,pp.342-347
担当範囲	All
著者・共著者	Xu-Zhi Lai, Jinhua She, Wei-Hua Cao, and Simon X. Yang
概要	An underactuated planar acrobot (UPA) is a two-link manipulator with a passive first joint. The control objective for a UPA in a horizontal plane is to move it from an initial position and stabilize it at a target position. Since a UPA is not small-time locally controllable, motion control is a big challenge. This paper presents a new control strategy based on constraints on the motion state. First, constraints on the angles and angular velocities of the two links are devised by integrating the dynamic equation of the UPA. Next, the state constraints are analyzed to discover the motion characteristics. Then, the optimal target position is obtained by solving a motion optimization problem that incorporates those characteristics. Finally, a control strategy based on the Lyapunov function method is devised to achieve the control objective. A numerical example demonstrates the validity of the control strategy.
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