Modeling and Control of an Acrobot Using MATLAB and Simulink
The problem of finding control laws for underactuated
systems has attracted growing attention since these systems are
characterized by the fact that they have fewer actuators than the
degrees of freedom to be controlled. The acrobot, which is a planar
two-link robotic arm in the vertical plane with an actuator at the elbow
but no actuator at the shoulder, is a representative in underactuated
systems. In this paper, the dynamic model of the acrobot is
implemented using Mathworks’ Simscape. And the sliding mode
control is constructed using MATLAB and Simulink.
[1] Russ Tedrake, Underactuated Robotics: Learning, Planning, and Control
for Efficient and Agile Machines, Course Notes for MIT 6.832, 2009.
[2] Mark W. Spong, Control Problems in Robotics and Automation, Lecture
Notes in Control and Information Science, vol. 230, pp. 135-150,
Springer-Verlag, 1998.
[3] Chun-Yi Su and Yury Stepanenko, “Adaptive Variable Structure
Set-Point Control of Underactuated Robots,” IEEE Transaction on
Automatic Control, vol. 44, no. 11, pp. 2090-2093, Nov. 1999.
[4] Mun-Soo Park and Dongkyoung Chwa, “Swing-Up and Stabilization
Control of Inverted-Pendulum System via Coupled-Mode Control
Method,” IEEE Transaction on Industrial Electronics, vol. 56, no. 9, pp.
3541-3555, Sep. 2009.
[5] Rong Xu and Umit Ozguner, “Sliding Mode Control of a Class of
Underactuated Systems,” Automatica, vol. 44, pp. 233-241, 2008.
[6] SimscapeTM 3 User’s Guide, Mathworks.
[1] Russ Tedrake, Underactuated Robotics: Learning, Planning, and Control
for Efficient and Agile Machines, Course Notes for MIT 6.832, 2009.
[2] Mark W. Spong, Control Problems in Robotics and Automation, Lecture
Notes in Control and Information Science, vol. 230, pp. 135-150,
Springer-Verlag, 1998.
[3] Chun-Yi Su and Yury Stepanenko, “Adaptive Variable Structure
Set-Point Control of Underactuated Robots,” IEEE Transaction on
Automatic Control, vol. 44, no. 11, pp. 2090-2093, Nov. 1999.
[4] Mun-Soo Park and Dongkyoung Chwa, “Swing-Up and Stabilization
Control of Inverted-Pendulum System via Coupled-Mode Control
Method,” IEEE Transaction on Industrial Electronics, vol. 56, no. 9, pp.
3541-3555, Sep. 2009.
[5] Rong Xu and Umit Ozguner, “Sliding Mode Control of a Class of
Underactuated Systems,” Automatica, vol. 44, pp. 233-241, 2008.
[6] SimscapeTM 3 User’s Guide, Mathworks.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:70176", author = "Dong Sang Yoo", title = "Modeling and Control of an Acrobot Using MATLAB and Simulink", abstract = "The problem of finding control laws for underactuated
systems has attracted growing attention since these systems are
characterized by the fact that they have fewer actuators than the
degrees of freedom to be controlled. The acrobot, which is a planar
two-link robotic arm in the vertical plane with an actuator at the elbow
but no actuator at the shoulder, is a representative in underactuated
systems. In this paper, the dynamic model of the acrobot is
implemented using Mathworks’ Simscape. And the sliding mode
control is constructed using MATLAB and Simulink.", keywords = "Acrobot, MATLAB and Simulink, sliding mode
control, underactuated systems.", volume = "9", number = "6", pages = "1031-4", }