Rising up motion and stabilizing control of Denguribot utilizing PI controller on a Poincaré section

This paper describes the rising up motion and stabilizing control for Denguribot. Denguribot is the Acrobot composed of two rounded links. The purpose of this paper is to stabilize Denguribot in a standing position from lying down. In order to achieve this purpose, we propose rising up control law using PI controller. Our method is to make an angle of Denguribot track its reference function by partial linearization method to pump up its energy and to update the reference on a Poincare section. As a stabilization control law, we approximate Denguribot as the Acrobot and design a stabilization control law for the Acrobot, using exact linearization method. Numerical simulation shows the effectiveness of the suggested method.