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Adaptive swing-up and balancing control of acrobot systems

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dc.contributor.advisor John J. Leonard. en_US Johnson, Luke B en_US
dc.contributor.other Massachusetts Institute of Technology. Dept. of Mechanical Engineering. en_US 2010-04-28T15:41:36Z 2010-04-28T15:41:36Z 2009 en_US 2009 en_US
dc.description Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009. en_US
dc.description Cataloged from PDF version of thesis. en_US
dc.description Includes bibliographical references (p. 22). en_US
dc.description.abstract The field of underactuated robotics has become the core of agile mobile robotics research. Significant past effort has been put into understanding the swing-up control of the acrobot system. This thesis implements an online, adaptive swing-up and balancing controller with no previous knowledge of the system's mass or geometric parameters. A least squares method is used to identify the 5 parameters necessary to completely characterize acrobot dynamics. Swing up is accomplished using partial feedback linearization and a pump up strategy to add energy to the system. The controller then catches the swung up system in the basin of attraction of an LQR controller computed using the estimated parameter values generated from online system identification. These results are then simulated using a MATLAB simulation environment. en_US
dc.description.statementofresponsibility by Luke B. Johnson. en_US
dc.format.extent 22 p. en_US
dc.language.iso eng en_US
dc.publisher Massachusetts Institute of Technology en_US
dc.rights M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. en_US
dc.rights.uri en_US
dc.subject Mechanical Engineering. en_US
dc.title Adaptive swing-up and balancing control of acrobot systems en_US
dc.type Thesis en_US S.B. en_US
dc.contributor.department Massachusetts Institute of Technology. Dept. of Mechanical Engineering. en_US
dc.identifier.oclc 558587994 en_US

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