Research on Swing up Control Based on Energy for the Pendubot System

摘要

In this paper, we present a class of nonlinear control scheme for swinging up and stabilization of an underactuated two-link robot called as Pendubot. The main objective of this paper is to present a switched control that swing up and stabilize for almost all combination of initial states given on the four equilibrium points of the double underactuated pendulum. The proposed methodology is based on two control strategies to swing up and stabilize the Pendubot system. The first one is based on Lagrangian dynamics, energy analysis, and stability theory, while the second one is based on linear quadratic regulator. Moreover, here we present a stability analysis of the switched control algorithm. In order to verify the proposed control strategy, experimental results were performed.