Swing-up and balancing control of acrobot

Abstract

This paper proposes two kinds of control strategy for swinging-up and keeping a two-link acrobot at the upright position. One is based on energy control, and the other is based on a linear feedback control so that the poles of the closed-loop system are assigned to make the pendant position unstable and the upright position stable. Two different linear feedback control laws are used in the course of the swing-up and balancing of the acrobot at the upright position. The proposed strategies are evaluated by the simulation.