Luigi del Re, A. Astolfi, W. Cabrera, W. Keller,
"Approximate Feedback Linearization of a Robotic Leg for large Operating Regions"
: Tagungsband 1994 Asian Control Conference, 1994
Original Titel:
Approximate Feedback Linearization of a Robotic Leg for large Operating Regions
Sprache des Titels:
Englisch
Original Buchtitel:
Tagungsband 1994 Asian Control Conference
Original Kurzfassung:
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.