Control of acrobot using inverse linear quadratic method

Nazih Hannouda, Hiroshi Takami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes an optimal control system design for an Acrobot who has a single actuator at the elbow and no actuator at the shoulder; the system is underactuated because we desire to control two links of the Acrobot with only a single system input. The Acrobot is an unstable robot useful as a testbed for studying the theory and application of nonlinear control. The proposed control system consists of inverse linear quadratic (ILQ)design method. The numerical simulation is given to show the effectiveness of the proposed control system.

Original languageEnglish
Title of host publication2018 International Conference on Control, Automation and Diagnosis, ICCAD 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538654071
DOIs
Publication statusPublished - 2018 Mar 1
Event2018 International Conference on Control, Automation and Diagnosis, ICCAD 2018 - Marrakech, Morocco
Duration: 2018 Mar 192018 Mar 21

Publication series

Name2018 International Conference on Control, Automation and Diagnosis, ICCAD 2018

Conference

Conference2018 International Conference on Control, Automation and Diagnosis, ICCAD 2018
CountryMorocco
CityMarrakech
Period18/3/1918/3/21

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Keywords

  • Acrobot
  • ILQ design method
  • Nonlinear control
  • Robotics
  • State feedback control
  • Under-actuated

ASJC Scopus subject areas

  • Safety, Risk, Reliability and Quality
  • Control and Optimization

Cite this

Hannouda, N., & Takami, H. (2018). Control of acrobot using inverse linear quadratic method. In 2018 International Conference on Control, Automation and Diagnosis, ICCAD 2018 [8751294] (2018 International Conference on Control, Automation and Diagnosis, ICCAD 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CADIAG.2018.8751294