Control of an under activated unstable nonlinear object

Nils Axel Andersen; L. Skovgaard; Ole Ravn

Control of an under activated unstable nonlinear object

Nils Axel Andersen
, L. Skovgaard
, Ole Ravn

Research output: Contribution to journal › Journal article › Research › peer-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 language	English
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

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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 = "Experimental Robotics VII, Lecture notes in control and information sciences",

issn = "0170-8643",

publisher = "Springer Science and Business Media Deutschland GmbH",

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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

SN - 0170-8643

VL - 271

SP - 481

EP - 490

JO - Experimental Robotics VII, Lecture notes in control and information sciences

JF - Experimental Robotics VII, Lecture notes in control and information sciences

ER -

Control of an under activated unstable nonlinear object

Abstract

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