抄録
In this paper, a swing-up controller for Pendubot which is a typical example of nonlinear underactuated system is proposed. The proposed method consists in three steps, Step 1: to swing up the first link, Step 2: to swing up the second link while keeping the first link at up-position, and Step 3: to stabilize the two links around the unstable equilibrium state. As a controller of Step 1, a partial linearization method to swing up the first link is proposed. In Step 2, the method combining an energy control method and the partial linearization method is proposed for swing up the second link. And LQR controller to stabilize both links is used as the controller of Step 3. Numerical simulation results are given to show an effectiveness of the proposed method.
