Robust swing up and balancing control of the acrobot based on a disturbance observer

Abstract

This paper proposes robust swing up and balancing control scheme of the acrobot system based on a disturbance observer. The partial feedback linearization and LQR control method are fast and effective way to control the nominal acrobot system. However, these control method does not guarantee the robustness. Also, the limit cycle phenomenon which appears in the acrobot system around the desired unstable equilibrium point can be assumed a sinusoidal signal. Therefore, disturbance observer for the sinusoidal disturbance is applied to develop the compensation scheme which minimizes the effect of the disturbance. The proposed control strategy was verified through the simulation results.