2026-09-19T04:30:42Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/544902022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
John J. Leonard.
Johnson, Luke B
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2010-04-28T15:41:36Z
2010-04-28T15:41:36Z
2009
2009
http://hdl.handle.net/1721.1/54490
558587994
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 22).
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.
by Luke B. Johnson.
S.B.
22 p.
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Adaptive swing-up and balancing control of acrobot systems
Thesis
application/pdf
Publication
unknown
unknown
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