Institute of Control, Robotics and Systems (ICROS) - Robust swing up and balancing control of the acrobot based on a disturbance observer

2015 15th International Conference on Control, Automation and Systems (ICCAS)

Author(s): Sanghyob Lee ; Myunghwan Eom ; Dongkyoung Chwa
Publisher: Institute of Control, Robotics and Systems (ICROS)
Publication Date: 1 October 2015
Conference Location: Busan, South Korea
Conference Date: 13 October 2015
Page(s): 48 - 53
ISBN (Electronic): 978-8-9932-1508-3
ISBN (USB): 978-8-9932-1509-0
ISSN (Paper): 2093-7121
DOI: 10.1109/ICCAS.2015.7364877
Regular:

This paper proposes robust swing up and balancing control scheme of the acrobot system based on a disturbance observer. The partial feedback linearization and LQR control method are fast and... View More

Advertisement