Stabilization of underactuated two-link gymnast robot by using trajectory tracking strategy

@article{Zhang2015StabilizationOU,
  title={Stabilization of underactuated two-link gymnast robot by using trajectory tracking strategy},
  author={Ancai Zhang and Xu-Zhi Lai and Min Wu and Jin-Hua She},
  journal={Applied Mathematics and Computation},
  year={2015},
  volume={253},
  pages={193-204}
}
This paper concerns the stabilization of an underactuated two-link gymnast robot called acrobot. A trajectory tracking control strategy is presented. First, we carry out a homeomorphous coordinate transformation on the acrobot system that transforms it into a new simplified nonlinear system. And then, a desired motion trajectory is designed for the new… CONTINUE READING