動的拘束条件に基づくAcrobotの振上げ制御(機械力学,計測,自動制御)

概要

論文の詳細を見る
This paper deals with the swing-up problem of Acrobot, which is an under-actuated system with two links and has non-holonomic constraints. For the problem, several control methods have been proposed but these methods require at least two controllers for the swing-up action from a hanging position and the balance action at the inverted position. In this paper, we propose a controller which is globally defined and available for both actions. We show that the inverted position of Acrobot coincides with the intersection point of two curves derived from the dynamic property of Acrobot, and when the state remains on the dynamic constraint, it converges to the intersection point of the curves. From this point of view, we design a controller that restricts the behavior of the state to the dynamic constraint. Applying the proposed method, a global swing-up control can be accomplished.
一般社団法人日本機械学会の論文
2007-11-25