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Control of an under actuated unstable nonlinear object

  • Nils A. Andersen
  • Lars Skovgaard
  • Ole Ravn
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 271)

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.

Keywords

Simulated Output Linear Controller Zero Dynamic Controller Figure Acceleration Control 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Nils A. Andersen
    • 1
  • Lars Skovgaard
    • 1
  • Ole Ravn
    • 1
  1. 1.Department of AutomationTechnical University of DenmarkLyngbyDenmark

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