A Simple Control Strategy Based on Trajectory Planning for Vertical Acrobot

This paper presents a simple control method on the basis of the trajectory planning for vertical Acrobot to accomplish the control goal of moving the system from the downward initial position (DIP) and steadying the system at the upward target position (UTP). First, for the active link, we frame a t...

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Hlavní autoři:	Lejun Wang, Siyu Chen, Pan Zhang, Jinhua She, Xuzhi Lai
Médium:	Artigo
Jazyk:	Inglês
Vydáno:	MDPI AG 2021-11-01
Edice:	Actuators
Témata:	underactuated system vertical acrobot trajectory planning
On-line přístup:	https://www.mdpi.com/2076-0825/10/12/308
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