%0 Journal Article
%T Controller Design and Global Stability Analysis of Acrobot<br>Acrobot控制器设计与全局稳定性分析
%A LAI Xu-Zhi
%A WU Min
%A SHE Jin-Hua
%A YANG Simon X
%A <br>赖旭芝
%A 吴敏
%A 佘锦华
%A YANG Simon X.
%J 自动化学报
%D 2007
%I 
%X This paper presents a controller design and global stability analysis of acrobots based on non-smooth Lyapunov functions. Three control laws that are derived based on three Lyapunov functions are applied successively to achieve a suitable posture and increase the energy so as to stabilize the acrobot at an unstable inverted equilibrium position. LaSalle invariant theorem and non-smooth Lyapunov function are employed to theoretically guarantee the stability of the acrobot in the whole motion space. Simulation results have demonstrated the validity of this strategy.
%K Acrobot<br>模糊控制
%K 稳定性
%K 非光滑Lyapunov函数
%K LaSalle不变原理
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=E48477C13F4FC387&yid=A732AF04DDA03BB3&vid=27746BCEEE58E9DC&iid=DF92D298D3FF1E6E&sid=4D0B71A09FA5A2A5&eid=00B9006659EBD8AC&journal_id=0254-4156&journal_name=自动化学报&referenced_num=1&reference_num=13