Control Based on Swing Up and Balancing Scheme for an Experimental Underactuated Robot

This paper proposes a novel control scheme for under-actuated two-link robot called the pendubot. Controller archives to swing, and stabilize to its uppermost unstable equilibrium point, the second non-attracted link. The control law is designed and the convergence analysis is carried out based on Lyapunov stability theory. Swinging control is based on an energy approach and the passivity properties, and then some conditions on the parameters in the control law such that the total energy of the pendubot converges to the potential energy of its top upright position are given. The stabilization system is based on switching LQR control.