Control of an under activated unstable nonlinear object

Research output: Contribution to journalJournal articleResearchpeer-review


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
Pages (from-to)481-490
Publication statusPublished - 2001


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