Home » Publication » 25947

Dettaglio pubblicazione

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.

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.
ISBN: 978-3-9071-4407-7
© Università degli Studi di Roma "La Sapienza" - Piazzale Aldo Moro 5, 00185 Roma