The Proceedings of the Symposium on the Motion and Vibration Control
Online ISSN : 2424-3000
2013.13
Session ID : D03
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D03 Experiment of Stabilizing Control of Acrobot by Orbital Feedback Linearization
Norito NISHIMURAKazuma SEKIGUCHIMitsuji SAMPEI
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Abstract
This paper reports series of experimental studies for Acrobot System by applying modified Linearization Method, which is an extension of the previous study conducted by Saito who used Exact Linearization by Time Scale Transformation. Saito derived the algorithm formation for a system without viscous damping factor, while author reports simulation data that indicate the aforementioned method is applicable to highly nonlinear system with arbitrary damping factor.
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© 2013 The Japan Society of Mechanical Engineers
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