CONTROL OF UNDERACTUATED ACROBOT SYSTEM USING PARTIAL FEEDBACK LINEARIZATION | ||
| The International Conference on Applied Mechanics and Mechanical Engineering | ||
| Article 70, Volume 16, 16th International Conference on Applied Mechanics and Mechanical Engineering., May 2014, Pages 1-10 PDF (137.73 K) | ||
| Document Type: Original Article | ||
| DOI: 10.21608/amme.2014.35735 | ||
| Authors | ||
| M. M. Emarah1; M. K. Ibrahim2; G. M. El Bayoumi2 | ||
| 1Assistant Teacher, The Higher Institute of Engineering, C.S.C.,6 of October City. | ||
| 2Professor, Faculty of Engineering, Cairo University. | ||
| Abstract | ||
| ABSTRACT Underactuated mechanical systems are those have fewer actuators than degrees of freedom. They arise in applications, such as space robots, mobile robots, flexible robots, walking and gymnastic robots, such as the Acrobot. The swing-up control problem is studied for the Acrobot system; as one of the most important benchmark problem of the underactuated mechanical systems. The dynamic model based on Lagrange formulation is present. Then, the design of the swing up control provided. The design methodology is based on applying partial feedback linearization in a first stage to linearized the unactuate degree of freedom pushing the Acrobot as near as possible to its equilibrium point. Then, switch to a balancing controller linear quadratic regulator (LQR), which forces the Acrobot to reach its equilibrium upward position. | ||
| Keywords | ||
| Underactuated mechanical systems; Acrobat; Swing up control; Partial feedback linearization | ||
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