Sciweavers

Free Online Productivity Tools i2Speak i2Symbol i2OCR iTex2Img iWeb2Print iWeb2Shot i2Type iPdf2Split iPdf2Merge i2Bopomofo i2Arabic i2Style i2Image i2PDF iLatex2Rtf Sci2ools

10

ISER
2000
Springer

favoriteEmaildiscussreport

96views Robotics» more ISER 2000»

Control of an Under Actuated Unstable Nonlinear Object

13 years 8 months ago

Control of an Under Actuated Unstable Nonlinear Object

Download www.ri.cmu.edu

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.

Nils A. Andersen, Lars Skovgaard, Ole Ravn

Real-time Traffic

Comprehensive Comparative Study | DOF Robot Arm | ISER 2000 | Robotics | Unstable Nonlinear Object |

claim paper

Related Content

» Wireless control of passive systems subject to actuator constraints

» Nonuniform smallgain theorems for systems with unstable invariant sets

» Plasma vertical stabilization with actuation constraints in the DIIID tokamak

» Modeling and control of a pair of robot fingers with saddle joint under orderless actuatio...

» Multimodel motion tracking under multiple team member actuators

» Feedback linearization and simultaneous stiffnessposition control of robots with antagonis...

» Neural Network NARMA Control of a Gyroscopic Inverted Pendulum

» On the Force Capabilities of Centripetal Forceactuated Microrobotic Platforms

» Loosely Coupled Joint Driven by SMA Coil Actuators

Post Info
More Details (n/a)

Added	25 Aug 2010
Updated	25 Aug 2010
Type	Conference
Year	2000
Where	ISER
Authors	Nils A. Andersen, Lars Skovgaard, Ole Ravn

Comments (0)