The paper deals with the sampled-data asymptotic stabilization of the Acrobot at its upward equilibrium. The proposed controller results from the action of an Input-Hamiltonian-Matching (IHM) strategy that shapes the closed-loop energy combined with a Damping Injection (DI) feedback designed on the sampled-data equivalent model. Simulations show the effectiveness of the proposed controller.
2022, 2022 European Control Conference, ECC 2022, Pages 699-704
Stabilization of the Acrobot via sampled-data passivity-based control (04b Atto di convegno in volume)
Mattioni M., Moreschini A., Monaco S., Normand-Cyrot D.
Gruppo di ricerca: Nonlinear Systems and Control