Comparison of Control Algorithms for a Nonholonomic Underactuated 2-DOF Robot Jorg Mareczek
نویسنده
چکیده
In this paper we present experimental results of several control algorithms for a non-holononmic underactuated 2-DOF robot. The rst joint of the robot consists of a DD-motor whereas the second joint has no actuator but a holding break. We derive a control law using non-collocated linearization for the uncertain parameter case and apply a PD, LQG and VS controller. In experiments the di erent control laws are quantitatively compared. An intelligent break algorithm is presented.
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