Control of an under activated unstable nonlinear object

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

Cite this

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title = "Control of an under activated unstable nonlinear object",
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.",
author = "Andersen, {Nils Axel} and L. Skovgaard and Ole Ravn",
year = "2001",
language = "English",
volume = "271",
pages = "481--490",
journal = "Lecture Notes in Control and Information Sciences",
issn = "0170-8643",
publisher = "Springer",

}

Control of an under activated unstable nonlinear object. / Andersen, Nils Axel; Skovgaard, L.; Ravn, Ole.

In: Experimental Robotics VII, Lecture notes in control and information sciences, Vol. 271, 2001, p. 481-490.

Research output: Contribution to journalJournal articleResearchpeer-review

TY - JOUR

T1 - Control of an under activated unstable nonlinear object

AU - Andersen, Nils Axel

AU - Skovgaard, L.

AU - Ravn, Ole

PY - 2001

Y1 - 2001

N2 - 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.

AB - 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.

M3 - Journal article

VL - 271

SP - 481

EP - 490

JO - Lecture Notes in Control and Information Sciences

JF - Lecture Notes in Control and Information Sciences

SN - 0170-8643

ER -