Advanced nonlinear robotic control using digital signal processing

Abstract

This paper presents a technique for the construction of the pseudolinearizing controller. The new method, intimately related to gain scheduling, uses splines to approximate functions which are often impossible to compute in practice. The Acrobot is used to illustrate the design technique, and experimental results are presented which support assertions of computational efficiency and high performance.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>