Control of acrobot using inverse linear quadratic method

Nazih Hannouda, Hiroshi Takami

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル2018 International Conference on Control, Automation and Diagnosis, ICCAD 2018
出版社Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781538654071
DOI
出版ステータスPublished - 2018 3
イベント2018 International Conference on Control, Automation and Diagnosis, ICCAD 2018 - Marrakech, Morocco
継続期間: 2018 3 192018 3 21

出版物シリーズ

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

Conference

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

ASJC Scopus subject areas

  • 安全性、リスク、信頼性、品質管理
  • 制御と最適化

フィンガープリント

「Control of acrobot using inverse linear quadratic method」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル