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Control design and comprehensive stability analysis of acrobots based on Lyapunov functions

  • Lai Xu-zhi Email author
  • Wu Yun-xin 
  • She Jin-hua 
  • Wu Min 
Electro-Mechanical Engineering And Information Science

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.

Key words

stability Lyapunov function acrobot fuzzy control 

CLC number

TP271 

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Copyright information

© Central South University 2005

Authors and Affiliations

  • Lai Xu-zhi 
    • 1
    Email author
  • Wu Yun-xin 
    • 2
  • She Jin-hua 
    • 3
  • Wu Min 
    • 1
  1. 1.School of Information Science and EngineeringCentral South UniversityChangshaChina
  2. 2.School of Mechanical and EngineeringCentral South UniversityChangshaChina
  3. 3.School of BionicsTokyo University of TechnologyTokyoJapan

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