Swing Up Control of Acrobot based on Switched Output Functions

Toshiyasu Yonemura; Masaki Yamakita

doi:10.11499/sicep.2004.0_59_5

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_59_5

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

Swing Up Control of Acrobot based on Switched Output Functions

Toshiyasu Yonemura, *Masaki Yamakita

Author information

Keywords: Swing up control, Acrobot, Output zeroing

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 59

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Abstract

In this paper, we propose a control algorithm for the problem of swing up control of Acrobot in upright position. In a conventional algorithm a singularity problem exits. For this singularity problem, we propose an algorithm that the output function is controlled to track a desired trajectory and the coordinate transformation is changed by switching the output function.

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