Journal of Robotics / 2009 / Article / Fig 3

Research Article

Output Feedback Nonlinear 𝐻 ∞ -Tracking Control of a Nonminimum-Phase 2-DOF Underactuated Mechanical System

Figure 3

Schematic diagram of the acrobot where 𝑙 1 and 𝑙 2 denote the length of the nonactuated and actuated links, respectively; and π‘š 1 and π‘š 2 are the masses of each link.

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