Approximate Feedback Linearization of a Robotic Leg for large Operating Regions

in Tagungsband 1994 Asian Control Conference, 1994
Author(s):del Re L., Astolfi A., Cabrera W., Keller W.
Most approximate feedback linearization schemes are based on approximations araound an operationg point. In this paper, it is argued that this may be misleading and lead to a worse result than a linear controller, and therefore it is suggested to use approximate models computed by fitting data from large operation regions. This approach is discussed at the example of an asymmetrical hydraulic cylinder, which is a part of an autonomous robot.
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