Abstract
This paper considers the swing-up control problem of a 2-link underactuated manipulator called the Pendubot. In this paper, we extend the energy-based control method of the Pendubot, taking in account the effect of friction around the actuated link. Applying the proposed control method, we can obtain a sufficient condition for vanishing of the singular points. Then, the convergence to the swing-up position is guaranteed by using the proposed Lyapunov function and LaSalle's invariance principle. In addition, we consider the case that system has unsartain friction. For this case, we proposed variable structure controller. The effectiveness of the proposed method is illustrated by numerical simulations.
