TY - GEN
T1 - Trajectory Optimization for the Swing-Up of an Acrobot using a DMOC Approach
AU - Ramos, Oscar E.
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - An acrobot is a nonlinear and underactuated system with two degrees of freedom. The control of its swing-up motion using only the actuated joint at the elbow of the system is a challenging problem that has been tackled using different optimal control approaches. This paper uses the Discrete Mechanics and Optimal Control (DMOC) method to solve the problem, allowing the system to start from its position pointing down and end at the unstable upward position. The formulation of the trajectory optimization problem for the acrobot is presented, followed by the full solution, including all the mathematical details. The results compare the obtained solution with a more classical one, showing the effectiveness of the DMOC approach on the control signal.
AB - An acrobot is a nonlinear and underactuated system with two degrees of freedom. The control of its swing-up motion using only the actuated joint at the elbow of the system is a challenging problem that has been tackled using different optimal control approaches. This paper uses the Discrete Mechanics and Optimal Control (DMOC) method to solve the problem, allowing the system to start from its position pointing down and end at the unstable upward position. The formulation of the trajectory optimization problem for the acrobot is presented, followed by the full solution, including all the mathematical details. The results compare the obtained solution with a more classical one, showing the effectiveness of the DMOC approach on the control signal.
KW - Acrobot
KW - DMOC
KW - Optimal Control
KW - Trajectory Optimization
UR - https://www.scopus.com/pages/publications/85082395037
U2 - 10.1109/SHIRCON48091.2019.9024887
DO - 10.1109/SHIRCON48091.2019.9024887
M3 - Conference contribution
AN - SCOPUS:85082395037
T3 - SHIRCON 2019 - 2019 IEEE Sciences and Humanities International Research Conference
BT - SHIRCON 2019 - 2019 IEEE Sciences and Humanities International Research Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE Sciences and Humanities International Research Conference, SHIRCON 2019
Y2 - 13 November 2019 through 15 November 2019
ER -