Swing-Up and Balancing Control of Underactuated Robotic Systems

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.

Name thesis:degree_name

Ph.D.

Level thesis:degree_level

Dissertation

Discipline thesis:degree_discipline

Aerospace Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2015

Author dc:creator

• Lee, Kangsik

Contributors dc:contributor

• Victoria L. Coverstone-Carroll

• Engineering, Electronics and Electrical

Language dc:language

eng

Identifier

(MiAaPQ)AAI9904522

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/85130