Control of an under actuated 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.
KeywordsSimulated Output Linear Controller Zero Dynamic Controller Figure Acceleration Control
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