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Pendubot: combining of energy and intuitive approaches to swing up, stabilization in erected pose

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Abstract

The objective of this paper is to define a strategy for the swing up of a double-link pendulum and its stabilization in the unstable equilibrium state with both erected links. The first joint of this double-link pendulum, which is the suspension joint, is actuated and the second joint is passive. This double-link pendulum, usually called pendubot, is an underactuated system. The double-link pendulum is straightened during the energy boosting process. The swing up control switches to the balancing mode at the instant when the system comes to the basin of attraction. The limits on the torque amplitude are taken into account. The gains of the saturated balancing control are chosen to ensure the basin of attraction as large as possible. Simulation results demonstrate that our strategy is efficient.

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Authors and Affiliations

  1. U.M.R. 6597, Institut de Recherche en Communications et Cybernétique de Nantes, 1 rue de la Noë (IRCCyN), BP 92101, 44321, Nantes Cedex 3, France

    Yannick Aoustin

  2. Institute of Mechanics, Moscow Lomonosov State University, 1, Mitchurinskii Prospect, Moscow, 119192, Russia

    Alexander Formal’skii & Yuri Martynenko

Authors
  1. Yannick Aoustin
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  2. Alexander Formal’skii
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  3. Yuri Martynenko
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Correspondence to Yannick Aoustin.

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Aoustin, Y., Formal’skii, A. & Martynenko, Y. Pendubot: combining of energy and intuitive approaches to swing up, stabilization in erected pose. Multibody Syst Dyn 25, 65–80 (2011). https://doi.org/10.1007/s11044-010-9228-5

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  • DOI: https://doi.org/10.1007/s11044-010-9228-5

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