Abstract
This paper deals with an approximate linearization control for the Acrobot using a novel linearization coordinate. The linearization coordinate is systematically determined by solving two first order linear partial differential equations and obtained in analytical form, as an infinite series of the state variables. The resulting system with the approximate linearization control posseses a larger basin of attraction comparing with that of the conventional linear control based on linearly approximated model. The advantage of the proposed control is clearly shown in numerical simulations but experimental results also shows their difference.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: The Proceedings of the Symposium on the Motion and Vibration Control
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
