Stabilization of 3 link acrobat robot in upright position

In this paper, we propose a control algorithm for solving problem of stabilization of acrobat robot in upright position on a horizontal bar. We extend an effective method for two link acrobat robot to three link acrobat robot. This method is based on a construction of an appropriate output function about an angular momentum and its output zeroing controller. The validity of the proposed method is shown by numerical simulations and an experiment.