Lyapunov-based set-point control of the acrobot

E. Zergeroglu; W. E. Dixon; D. M. Dawson; S. Jaffar; M. W. Hannan

Lyapunov-based set-point control of the acrobot

E. Zergeroglu, W. E. Dixon, D. M. Dawson, S. Jaffar, M. W. Hannan

Mechanical & Nuclear Engineering

Clemson University

Research output: Contribution to conference › Paper › peer-review

6 Scopus citations

Abstract

In this paper, we present an alternative approach for the set-point control of the acrobot. The primary control objective is to regulate the first link at any desired position. A Lyapunov-based control algorithm, which is applicable to both the directly driven and the remotely driven acrobot, is proposed. The controller ensures that the first link is asymptotically driven to the desired setpoint provided some sufficient conditions on the controller gains and the physical parameters are satisfied. Experimental results are presented to illustrate the performance of the proposed control law.

Original language	British English
Pages	887-891
Number of pages	5
State	Published - 1998
Event	Proceedings of the 1998 IEEE International Conference on Control Applications. Part 2 (of 2) - Trieste, Italy Duration: 1 Sep 1998 → 4 Sep 1998

Conference

Conference	Proceedings of the 1998 IEEE International Conference on Control Applications. Part 2 (of 2)
City	Trieste, Italy
Period	1/09/98 → 4/09/98

Cite this

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title = "Lyapunov-based set-point control of the acrobot",

abstract = "In this paper, we present an alternative approach for the set-point control of the acrobot. The primary control objective is to regulate the first link at any desired position. A Lyapunov-based control algorithm, which is applicable to both the directly driven and the remotely driven acrobot, is proposed. The controller ensures that the first link is asymptotically driven to the desired setpoint provided some sufficient conditions on the controller gains and the physical parameters are satisfied. Experimental results are presented to illustrate the performance of the proposed control law.",

author = "E. Zergeroglu and Dixon, {W. E.} and Dawson, {D. M.} and S. Jaffar and Hannan, {M. W.}",

year = "1998",

language = "British English",

pages = "887--891",

note = "Proceedings of the 1998 IEEE International Conference on Control Applications. Part 2 (of 2) ; Conference date: 01-09-1998 Through 04-09-1998",

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T1 - Lyapunov-based set-point control of the acrobot

AU - Zergeroglu, E.

AU - Dixon, W. E.

AU - Dawson, D. M.

AU - Jaffar, S.

AU - Hannan, M. W.

PY - 1998

Y1 - 1998

N2 - In this paper, we present an alternative approach for the set-point control of the acrobot. The primary control objective is to regulate the first link at any desired position. A Lyapunov-based control algorithm, which is applicable to both the directly driven and the remotely driven acrobot, is proposed. The controller ensures that the first link is asymptotically driven to the desired setpoint provided some sufficient conditions on the controller gains and the physical parameters are satisfied. Experimental results are presented to illustrate the performance of the proposed control law.

AB - In this paper, we present an alternative approach for the set-point control of the acrobot. The primary control objective is to regulate the first link at any desired position. A Lyapunov-based control algorithm, which is applicable to both the directly driven and the remotely driven acrobot, is proposed. The controller ensures that the first link is asymptotically driven to the desired setpoint provided some sufficient conditions on the controller gains and the physical parameters are satisfied. Experimental results are presented to illustrate the performance of the proposed control law.

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M3 - Paper

AN - SCOPUS:0032291350

SP - 887

EP - 891

T2 - Proceedings of the 1998 IEEE International Conference on Control Applications. Part 2 (of 2)

Y2 - 1 September 1998 through 4 September 1998

ER -

Lyapunov-based set-point control of the acrobot

Abstract

Conference

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