Swing-Up and Balancing Control of Underactuated Robotic Systems
Lee, Kangsik
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Permalink
https://hdl.handle.net/2142/85130
Description
Title
Swing-Up and Balancing Control of Underactuated Robotic Systems
Author(s)
Lee, Kangsik
Issue Date
1998
Doctoral Committee Chair(s)
Victoria L. Coverstone-Carroll
Department of Study
Aerospace Engineering
Discipline
Aerospace Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Engineering, Electronics and Electrical
Language
eng
Abstract
To validate the control algorithms experimentally, a complete controller for swing-up and balancing has been designed and implemented on the Pendubot, a two-link underactuated robot. The parameters of the Pendubot were varied by up to 50% in order to test robustness to parameter errors. The robust control scheme using sliding mode concepts successfully compensated for modeling imprecision and disturbances inherent in the experimental demonstration.
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