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2001 Swing up pendubot with a GA-tuned bang-bang controlle
Proceedings of the 2003 IEEE
Changsha, China - October 2003
Intemational Conference on Robotics,Jntelligent Systems and Signal Processing
Swing Up Pendubot with a GA-tuned Bang-bang Controller
Dongbin ZHAO Jianqiang YI
Laboratory of Complex Systems and Intelligence Science
Beijing 100080, PR. China
Donbin.zhao,jianqiang.yi@mail. ia. ac. cn
Institute of Automation, Chinese Academy of Sciences
Abstract
This paper presents a new control method to swing up
pendubot (pendulum robot), a typical two-link
under-actuated system. The pendubot is composed of the
first active joint and the second passive joint. The swing
up is a complex problem to move the two linhfiom low to
top position by appropriate external torque on the first
joint. A Bang-bang controller is developed to apply
constant output torque on the system periodically. When
the two links are located about the natural low position,
the constant torque is applied on the3rst actuated joint to
make the links swing up by one or more times, finally
close to upright position, the attractive basin of a linear
controller for balancing. The balancing controller is
designed with LQR method. The constant output torque
with control basin of the bang-bang controller is
determined with a modi$ed genetic algorithm. The control
parameters are verijied to swing up the pendubot through
simulation results with diferent typical experimental
setups. The results indicate that a large output torque
cause the two links swinging up quickly to the attractive
basin, while a small torque needs several swings back and
forth to reach the attractive basin, but it provides a
valuable control strategy for real applications.
1 Introduction
Two-link under-actuated system is a typical structure
of articulated robotic systems, which is characterized as
less actuated joints than degree of freedoms. The system
consists of two links rotating on two joints, of which one
is active actuated by external torque and anothe
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