The DOI matches its Crossref record; 9 of the 9 references it cites were found in a registry or an index.
The swing up control problem for the Acrobot
Abstract
Underactuated mechanical systems are those possessing fewer actuators than degrees of freedom. Examples of such systems abound, including flexible joint and flexible link robots, space robots, mobile robots, and robot models that include actuator dynamics and rigid body dynamics together. Complex internal dynamics, nonholonomic behavior, and lack of feedback linearizability are often exhibited by such systems, making the class a rich one from a control standpoint. In this article the author studies a particular underactuated system known as the Acrobot: a two-degree-of-freedom planar robot with a single actuator. The author considers the so-called swing up control problem using the method of partial feedback linearization. The author gives conditions under which the response of either degree of freedom may be globally decoupled from the response of the other and linearized. This result can be used as a starting point to design swing up control algorithms. Analysis of the resulting zero dynamics as well as analysis of the energy of the system provides an understanding of the swing up algorithms. Simulation results are presented showing the swing up motion resulting from partial feedback linearization designs.>
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Cites
Isidori, A. (1989) · Springer eBooks · doi:10.1007/978-3-662-02581-9 · Cited by 7,869
Spong, M. W. (1989) · Andalas University Repository (Andalas University) · Cited by 3,811
Applications of Centre Manifold Theory
Carr, J. (1981) · Applied Mathematical Sciences · doi:10.1007/978-1-4612-5929-9 · Cited by 1,909
The kinematics, dynamics, and control of free-flying and free-floating space robotic systems
Dubowsky, S., & Papadopoulos, E. (1993) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.258046 · Cited by 452
Position control of manipulator with passive joints using dynamic coupling
Arai, H., & Tachi, S. (1991) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.86082 · Cited by 236
Backstepping to passivity: recursive design of adaptive systems
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Swing and locomotion control for two-link brachiation robot
Saito, F., Fukuda, T., & Arai, F. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1993.291874 · Cited by 60
A Case Study in Approximate Linearization: The Acrobot ExamplePreprint
Murray, R. M., Murray, R. M., Hauser, J., & Hauser, J. (n.d.) · Cited by 51
Pseudolinearization Using Spline Functions with Application to the Acrobot
Bortoff, S. A. (1992) · Illinois Digital Environment for Access to Learning and Scholarship (University of Illinois at Urbana-Champaign) · Cited by 35
Cited by
Dynamics and control of a class of underactuated mechanical systems
Reyhanoglu, M., van der Schaft, A., Mcclamroch, N. H., & Kolmanovsky, I. (1999) · IEEE Transactions on Automatic Control · doi:10.1109/9.788533 · Cited by 501
Wang, W., & Siau, K. (2019) · Journal of Database Management · doi:10.4018/jdm.2019010104 · Cited by 452
Spong (1998) · doi:10.1007/bfb0015081 · Cited by 437
Limit Cycles in a Passive Compass Gait Biped and Passivity-Mimicking Control Laws
Goswami, A., Espiau, B., & Keramane, A. (1997) · Autonomous Robots · doi:10.1023/a:1008844026298 · Cited by 431
A survey of underactuated mechanical systems
Liu, Y., & Yu, H. (2013) · IET Control Theory & Applications · doi:10.1049/iet-cta.2012.0505 · Cited by 285
Metadata
- Venue
- IEEE Control Systems
- Published
- 1995-02
- Volume
- 15
- Issue
- 1
- Pages
- 49-55
- ISSN
- 1066-033X (ISSN-L)
- 1941-000X
- OpenAlex
- W2013232999
- Cited by
- 956
- References
- 9
- FWCI
- 17.22
- Type
- journal article
- Language
- en
- Open access
- closed
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