アクロボットの倒立姿勢を生成する出力零化空間の時変出力関数を用いた補正

This paper considers the posture control of Acrobot system with respect to the input-output linearization with time-varying output. Acrobot system has continuous set of equilibria, and there exists an output function such that corresponding equilibrium is stable via input-output linearization. Posture control from one equilibrium to another is realized by switching two output functions. Proposed method is to connect two outputs with time-varying function. The time-varying function is designed to keep some smoothness of the outputs at the connections. This enables output zero to be maintained, and then, transient dynamics is represented as a simple form and easy to be analyzed.