A swing-up of the acrobot based on a simple pendulum strategy

DOI10.1080/00207170500056835zbMath1134.93376OpenAlexW2022397098MaRDI QIDQ5460610

Arun D. Mahindrakar, Ravi N. Banavar

Publication date: 18 July 2005

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207170500056835

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Cites Work

• Nonlinear control of a swinging pendulum
• Energy based control of the Pendubot
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• Normal forms for underactuated mechanical systems with symmetry

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