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Title:Swing-Up and Balancing Control of Underactuated Robotic Systems
Author(s):Lee, Kangsik
Doctoral Committee Chair(s):Victoria L. Coverstone-Carroll
Department / Program:Aerospace Engineering
Discipline:Aerospace Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:Ph.D.
Genre:Dissertation
Subject(s):Engineering, Electronics and Electrical
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.
Issue Date:1998
Type:Text
Language:English
Description:147 p.
Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 1998.
URI:http://hdl.handle.net/2142/85130
Other Identifier(s):(MiAaPQ)AAI9904522
Date Available in IDEALS:2015-09-25
Date Deposited:1998


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