Control of an under activated unstable nonlinear object

Nils Axel Andersen, L. Skovgaard, Ole Ravn

    Research output: Contribution to journalJournal articleResearchpeer-review

    Abstract

    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.
    Original languageEnglish
    Book seriesExperimental Robotics VII, Lecture notes in control and information sciences
    Volume271
    Pages (from-to)481-490
    ISSN0170-8643
    Publication statusPublished - 2001

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