@inproceedings{e61fc4e817ba43cbb67c3293f7b11eef,
title = "Hybrid second-order sliding-mode tracking control for acrobot",
abstract = "In this paper we propose a variable structure controller to solve the tracking control problem of Acrobot. The controller consists of a swing-up phase and a stabilization phase. The desired trajectory is centered at the upright position, while the Acrobot starts from the stable position. A stability analysis of the closed-loop dynamic system in question was performed within the framework of Lyapunov functions. Simulation results show the effectiveness of the proposed controller.",
keywords = "Acrobot, Switching control, Twisting algorithm",
author = "Puga, {Sergio A.} and Aguilar, {Luis T.}",
year = "2005",
doi = "10.1109/ICIECA.2005.1644341",
language = "Ingl{\'e}s",
isbn = "0780394194",
series = "ICIECA 2005: International Conference on Industrial Electronics and Control Applications 2005",
publisher = "IEEE Computer Society",
booktitle = "ICIECA 2005",
address = "Estados Unidos",
note = "ICIECA 2005: International Conference on Industrial Electronics and Control Applications 2005 ; Conference date: 29-11-2005 Through 02-12-2005",
}