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This paper discusses the dynamical servo control problem for the Acrobot - a mechanics with two links while just one actuator applied to the second link. The dynamical servo control aims to access generic points in the state space not just the equilibrium points. Stabilizing of generic points is impossible and a possible way is to stabilize some periodic orbits passing through the desired points....
In this paper we consider the problem of designing a multi-controller K that consists of a family of stabilizing controllers {Km}m=1n, where each controller Km belongs to a constrained set Km. Our goal is to determine the controllers {Km}m=1n (and an associated switching trajectory if switching is controllable) to optimize the closed-loop system performance. Based on a special implementation of...
Presents two reaching laws of sliding mode for discrete-time variable structure control systems to solve the problem in designing the system control input. Considering the system control input is restricted, the reaching laws proposed in this paper adopt the approach angle and the distance to the sliding surface to regulate the system control input properly. By applying the proposed reaching laws...
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