Control of an Under Actuated 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.

• Type: Conference
• Year: 2000
• Where: ISER
• Authors: Nils A. Andersen, Lars Skovgaard, Ole Ravn
• Keywords: Comprehensive Comparative Study, DOF Robot Arm, ISER 2000, Robotics, Unstable Nonlinear Object