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	中国語
発行・発表の年月	2012/08
形態種別	学術論文
査読	査読あり
標題	Stabilization Control of Underactuated Acrobot Based on Rewinding Approach
執筆形態	共著
掲載誌名	Acta Automatica Sinica
出版社・発行元	Chinese Association of Automation
巻・号・頁	38(8),1263-1269頁
概要	This paper presents a new method of stabilizing an underactuated two-link gymnast robot, Acrobot. First, an artificial friction torque is used to construct a falling-down motion trajectory. Next, we design a reference motion trajectory for the Acrobot from the straight-down position to the straight-up position based on an inverse idea. This transforms the problem of stabilizing the Acrobot into a tracking control problem. Finally, we use the knowledge of optimal control to design a tracking controller, which enables the Acrobot to be asymptotically stabilized at the straight-up position along the desired trajectory. Simulation results demonstrate the validity of our method.
DOI	10.3724/SP.J.1004.2012.01263