A Simple Control Strategy Based on Trajectory Planning for Vertical Acrobot

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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Bibliographic Details
Main Authors: Lejun Wang, Siyu Chen, Pan Zhang, Jinhua She, Xuzhi Lai
Format: Article
Language:English
Published: MDPI AG 2021-11-01
Series:Actuators
Subjects:
underactuated system
vertical acrobot
trajectory planning
Online Access:https://www.mdpi.com/2076-0825/10/12/308

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