Stabilization of the Acrobot via sampled-data passivity-based control
Résumé
The paper deals with the sampled-data asymptotic stabilization of the Acrobot at its upward equilibrium. The proposed controller results from the action of an Input-Hamiltonian-Matching (IHM) strategy that shapes the closedloop energy combined with a Damping Injection (DI) feedback designed on the sampled-data equivalent model. Simulations show the effectiveness of the proposed controller.
| Origine | Fichiers produits par l'(les) auteur(s) |
|---|