Communication Dans Un Congrès Année : 2022

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.

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hal-04228025 , version 1 (04-10-2023)

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Mattia Mattioni, Alessio Moreschini, Salvatore Monaco, Dorothée Normand-Cyrot. Stabilization of the Acrobot via sampled-data passivity-based control. ECC 2022 - 20th European Control Conference, Jul 2022, London, United Kingdom. pp.699-704, ⟨10.23919/ECC55457.2022.9838198⟩. ⟨hal-04228025⟩
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