Co-optimization of Acrobot Design and Controller for Increased Certifiable Stability
Lasse Jenning Maywald,Felix Wiebe,Shivesh Kumar,Mahdi Javadi,Frank Kirchner,Lasse Jenning Maywald,Felix Wiebe,Shivesh Kumar,Mahdi Javadi,Frank Kirchner
Unlike fully actuated systems, the control of underactuated robots necessitates the use of passive dynamics to fulfill control objectives. Hence, there is an increased interdependence between their design parameters and the closed loop performance. This paper proposes a novel approach for co-optimization of robot design and controller parameters for increased certifiable stability obtained with me...
