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Minimum-time control of the Acrobot

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1 Author(s)
G. Boone ; Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA

The Acrobot, a two-link arm that is unactuated at the first joint, is challenging to control because it is an underactuated, nonlinear, continuous system. We describe a direct search algorithm for finding swingup trajectories for the Acrobot. The algorithm uses a lookahead search that maximizes the Acrobot's total energy in an N-step window. Because the controls are extremal and the number of switches in the window limited, the algorithm is fast. Nevertheless, the resulting trajectories are near optimal

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997