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

• 作 者: LAI Xu-zhi WU Yun-xin SHE Jin-
• 机 构: SchoolofInformationScienceandEngineering
• 出 处: 中南工业大学学报：英文版
• 发表日期: 2005年z1期
• 关键词: stability LYAPUNOV function ACROBOT FUZZY control
• 基金项目: Project (60425310) supported by the National Science Foundation of China, project (2001AA4422200) supported by theTeaching and Research Award Program for Outstanding Young Teachers in Higher Education

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 un