Journal article
Control of an under activated unstable nonlinear object
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.
Language: | English |
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Year: | 2001 |
Pages: | 481-490 |
ISSN: | 16107411 and 01708643 |
Types: | Journal article |
ORCIDs: | Andersen, Nils Axel and Ravn, Ole |