Abstract
This chapter studies theoretically and experimentally the swing-up and stabilizing control for the RDA (remotely driven Acrobot), which is a 2-link planar robot with the first link being underactuated and the second link being remotely driven by an actuator mounted at a fixed base through a belt. An energy-based swing-up controller is designed. A global motion analysis of the RDA under the designed controller is provided focusing on the behavior of the closed-loop solution and the stability of the closed-loop equilibrium points. The conditions on control parameters for achieving a successful swing-up control are given. Furthermore, an experimental setup is described and experimental results are given to validate the presented theoretical results. This chapter investigates experimentally how to deal with some modeling errors including unmodeled frictions. This chapter shows that the energy-based swing-up controller for the RDA is effective both theoretically and experimentally.
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Xin, X., Liu, Y. (2014). Remotely Driven Acrobot. In: Control Design and Analysis for Underactuated Robotic Systems. Springer, London. https://doi.org/10.1007/978-1-4471-6251-3_4
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DOI: https://doi.org/10.1007/978-1-4471-6251-3_4
Publisher Name: Springer, London
Print ISBN: 978-1-4471-6250-6
Online ISBN: 978-1-4471-6251-3
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