シャ キンカ
Jinhua She
佘 錦華 所属 工学部 機械工学科 職種 教授 |
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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 |