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 language | English |
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Book series | Experimental Robotics VII, Lecture notes in control and information sciences |
Volume | 271 |
Pages (from-to) | 481-490 |
ISSN | 0170-8643 |
Publication status | Published - 2001 |