| Titel:
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Control of an under activated unstable nonlinear object |
| Type:
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Journal articleJournal article |
| Person(er):
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Technical University of Denmark
Email:
Forfatter:
Skovgaard, L.
Technical University of Denmark
Technical University of Denmark
Email:
|
| Uddrag:
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This paper presents a comprehensive comparative study of several nonlinear controllers for stabilisation of the under actuated unstable nonlinear object known as the Acrobot in the literature. The object is a two DOF robot arm only actuated at the elbow. The study compares several control algorithms from the literature and a new algorithm developed during the study. The comparison is based on both simulation and real experiments for all controllers. |
| Publiceret:
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in journal: Experimental Robotics VII, Lecture notes in control and information sciences (ISSN: 0170-8643), vol: 271, pages: 481-490, 2001 |
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