A non-smooth control law and time-optimality notions for the acrobot
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Publication:5704599
DOI10.1080/00207170500197548zbMath1088.93013OpenAlexW2042926454MaRDI QIDQ5704599
Arun D. Mahindrakar, Ravi N. Banavar
Publication date: 15 November 2005
Published in: International Journal of Control (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1080/00207170500197548
Applications of optimal control and differential games (49N90) Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)
Related Items (3)
Further constructive results on interconnection and damping assignment control of mechanical systems: the Acrobot example ⋮ Analysis of the energy‐based swing‐up control of the Acrobot ⋮ Energy-optimal trajectory planning for the Pendubot and the Acrobot
Cites Work
- Interconnection and damping assignment passivity-based control: a survey
- A calculus for computing Filippov's differential inclusion with application to the variable structure control of robot manipulators
- Computation of time-optimal controls applied to rigid manipulators with friction
- Lyapunov stability theory of nonsmooth systems
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