Hybrid Second-Order Sliding-Mode Tracking Control for Acrobot

In this paper we propose a variable structure controller to solve the tracking control problem of Acrobot. The controller consists of a swing-up phase and a stabilization phase. The desired trajectory is centered at the upright position, while the Acrobot starts from the stable position. A stability...

• 1. autor: Puga, Sergio A. (author)
• Kolejni autorzy: Aguilar, Luis T. (author)
• Format: article
• Język: eng
• Wydane: 2007
• Hasła przedmiotowe: ACROBOT; SISTEMAS DE CONTROL; CONTROL SYSTEMS
• Dostęp online: http://bibdigital.epn.edu.ec/handle/15000/9303