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...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-11-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/10/12/308 |
| _version_ | 1797507085344178176 |
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| author | Lejun Wang Siyu Chen Pan Zhang Jinhua She Xuzhi Lai |
| author_facet | Lejun Wang Siyu Chen Pan Zhang Jinhua She Xuzhi Lai |
| author_sort | Lejun Wang |
| collection | DOAJ |
| description | 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 trajectory that contains some adjustable parameters. Along the framed trajectory, we can make the active link stabilize at its end angle from its start angle. Furthermore, we change the trajectory parameters to make the passive link also arrive at the zone near the end angle. Next, we devise a PD-based tracking controller to track this planned trajectory. In this way, the vertical Acrobot is swung up to a small zone near the UTP. Then, from the approximate linear model at the UTP, we devise a stabilization controller to stabilize the vertical Acrobot at the UTP. Finally, we implement the simulation to show the validity of the proposed method. |
| first_indexed | 2024-03-10T04:42:35Z |
| format | Article |
| id | doaj.art-8a7424dc2b504e18967e7d4d8657caa8 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-10T04:42:35Z |
| publishDate | 2021-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-8a7424dc2b504e18967e7d4d8657caa82023-11-23T03:16:23ZengMDPI AGActuators2076-08252021-11-01101230810.3390/act10120308A Simple Control Strategy Based on Trajectory Planning for Vertical AcrobotLejun Wang0Siyu Chen1Pan Zhang2Jinhua She3Xuzhi Lai4School of Automation, China University of Geosciences, Wuhan 430074, ChinaSchool of Automation, China University of Geosciences, Wuhan 430074, ChinaSchool of Automation, China University of Geosciences, Wuhan 430074, ChinaSchool of Automation, China University of Geosciences, Wuhan 430074, ChinaSchool of Automation, China University of Geosciences, Wuhan 430074, ChinaThis 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 trajectory that contains some adjustable parameters. Along the framed trajectory, we can make the active link stabilize at its end angle from its start angle. Furthermore, we change the trajectory parameters to make the passive link also arrive at the zone near the end angle. Next, we devise a PD-based tracking controller to track this planned trajectory. In this way, the vertical Acrobot is swung up to a small zone near the UTP. Then, from the approximate linear model at the UTP, we devise a stabilization controller to stabilize the vertical Acrobot at the UTP. Finally, we implement the simulation to show the validity of the proposed method.https://www.mdpi.com/2076-0825/10/12/308underactuated systemvertical acrobottrajectory planning |
| spellingShingle | Lejun Wang Siyu Chen Pan Zhang Jinhua She Xuzhi Lai A Simple Control Strategy Based on Trajectory Planning for Vertical Acrobot Actuators underactuated system vertical acrobot trajectory planning |
| title | A Simple Control Strategy Based on Trajectory Planning for Vertical Acrobot |
| title_full | A Simple Control Strategy Based on Trajectory Planning for Vertical Acrobot |
| title_fullStr | A Simple Control Strategy Based on Trajectory Planning for Vertical Acrobot |
| title_full_unstemmed | A Simple Control Strategy Based on Trajectory Planning for Vertical Acrobot |
| title_short | A Simple Control Strategy Based on Trajectory Planning for Vertical Acrobot |
| title_sort | simple control strategy based on trajectory planning for vertical acrobot |
| topic | underactuated system vertical acrobot trajectory planning |
| url | https://www.mdpi.com/2076-0825/10/12/308 |
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