Strongly stabilizing controllers for a two-link robotic system
| buir.advisor | Özbay, Hitay | |
| dc.contributor.author | Andaç, Adile Merve | |
| dc.date.accessioned | 2024-01-31T13:16:01Z | |
| dc.date.available | 2024-01-31T13:16:01Z | |
| dc.date.copyright | 2024-01 | |
| dc.date.issued | 2024-01 | |
| dc.date.submitted | 2024-01-30 | |
| dc.description | Cataloged from PDF version of article. | en_US |
| dc.description | Includes bibliographical references (leaves 64-67). | en_US |
| dc.description.abstract | Strong stabilization is defined as finding a stable controller that stabilizes the feedback system for a given plant. This study addresses the strong stabilization of a robotic system called the “acrobot”, which is a two-linked underactuated planar robot system. The linearized system is fourth-order, with two poles and one zero in the right half-plane. In this thesis, stable second-order controllers designed with different methods have been investigated for this system. The sta-bility margins are analyzed with respect to various free parameters. In addition, the time-domain transient response analysis is illustrated through simulations. Furthermore, the effects of nonlinearities are studied by estimating the region of attraction for each linear controller considered. | |
| dc.description.statementofresponsibility | by Adile Merve Andaç | |
| dc.format.extent | xiv, 100 leaves : charts ; 30 cm. | |
| dc.identifier.itemid | B109882 | |
| dc.identifier.uri | https://hdl.handle.net/11693/114156 | |
| dc.language.iso | English | |
| dc.rights | info:eu-repo/semantics/openAccess | |
| dc.subject | Strong stabilization | |
| dc.subject | Stability margins | |
| dc.subject | Acrobot | |
| dc.subject | Underactuated robotics | |
| dc.subject | Second order controller | |
| dc.subject | Reduced order controller | |
| dc.title | Strongly stabilizing controllers for a two-link robotic system | |
| dc.title.alternative | İki bağlantılı robotik sistemler için güçlü stabilizasyon sağlayan kontrolcü tasarımı | |
| dc.type | Thesis | |
| thesis.degree.discipline | Electrical and Electronic Engineering | |
| thesis.degree.grantor | Bilkent University | |
| thesis.degree.level | Master's | |
| thesis.degree.name | MS (Master of Science) |