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Control design and comprehensive stability analysis of acrobots based on Lyapunov functions |
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| Authors: | Lai Xu-zhi Wu Yun-xin She Jin-hua and Wu Min |
| Affiliation: | (1) School of Information Science and Engineering, Central South University, 410083 Changsha, China;(2) School of Mechanical and Engineering, Central South University, 410083 Changsha, China;(3) School of Bionics, Tokyo University of Technology, 1404-1 Katakura, Hachioji, 192-0982 Tokyo, Japan |
| Abstract: | 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. Foundation item: Project (60425310) supported by the National Science Foundation of China; project (2001AA4422200) supported by the Teaching and Research Award Program for Outstanding Young Teachers in Higher Education Institutions of the Ministry of Education of China |
| Keywords: | stability Lyapunov function acrobot fuzzy control |
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