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Control design and comprehensive stability analysis of acrobots based on Lyapunov functions

Control design and comprehensive stability analysis of acrobots based on Lyapunov functions
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摘要 A design method for controllers and a comprehensive stability analysis for an acrobat based on Lyapunov functions are presented. Three control laws based on three Lyapunov functions are designed to increase the energy so as to move the acrobot into the unstable inverted equilibrium position, and solve the problem of posture and energy. The concept of a non-smooth Lyapunov function is employed to analyze the stability of the whole system. The validity of this strategy is demonstrated by simulations.
作者 LAI Xu-zhi WU Yun-xin SHE Jin-hua WU Min
机构地区 School of Information Science and Engineering
出处 《Journal of Central South University of Technology》 2005年第z1期210-216,共7页 中南工业大学学报（英文版）
基金 Project (60425310) supported by the National Science Foundation of China project (2001AA4422200) supported by theTeaching and Research Award Program for Outstanding Young Teachers in Higher Education Institutions of the Ministry of Education of China
关键词 stability LYAPUNOV function ACROBOT FUZZY control
分类号 TP271 [自动化与计算机技术—检测技术与自动化装置]
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参考文献14

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Journal of Central South University of Technology
2005年 第z1期

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