Swing-up and stabilization of an underactuated manipulator without state feedback of free joint

@article{Yabuno2004SwingupAS,
  title={Swing-up and stabilization of an underactuated manipulator without state feedback of free joint},
  author={Hiroshi Yabuno and Kazukuni Goto and Nobuharu Aoshima},
  journal={IEEE Transactions on Robotics and Automation},
  year={2004},
  volume={20},
  pages={359-365}
}
A technique without state feedback of the free link is theoretically and experimentally proposed for the swing-up and the stabilization at the upright position of the free link in a two-link underactuated manipulator. An appropriate actuation of the bifurcations produced in the free link realizes the control objectives. 

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