A ROS-based swing up control and stabilization of the Pendubot using virtual holonomic constraints

This paper presents swing up control and stabilization of the Pendubot using Robot Operating System (ROS). We employed virtual holonomic constraints framework to realize periodic motions that lead to the closed loop swing up of the non-actuated link into the mid-up unstable position. Then, we switched to a linear quadratic regulator to balance the system about the equilibrium position. The control was successfully implemented in simulation and in real experiment in three consecutive steps: periodic motion, propeller motion and, finally, stabilization about unstable equilibrium point.