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Control of swing-up and giant-swing motions of Acrobot based on periodic input

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A Correction to this article was published on 30 March 2022

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Abstract

In this paper, a control law to stabilize the energy for the swing-up and giant-swing motions of a two-link gymnastic robot (Acrobot) to a desired value by periodically changing the second link is proposed. First, the swing-up motion of an Acrobot around the lower equilibrium point and the giant-swing motion rotating continuously around the rotation axis are analyzed. The analysis is conducted using the averaging method when the second link of the Acrobot is moved periodically, and the averaged equations for both motions are derived. Next, the energy equations are derived by using the averaged equations, and an energy control law can be controlled from the swing-up motion to the giant-swing motion is designed. The derived nonlinear feedback control law modulates the amplitude of the periodic input according to the deviation from the desired energy. Our control method can control both the swing-up and giant-swing motions with a single controller. Finally, using the proposed control method, it is shown that the energy of the real Acrobot can be controlled to the desired values.

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The datasets of the current study are available from the corresponding author on reasonable request.

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The authors declare that they do not receive any funds from any organization for this research.

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Authors and Affiliations

  1. Graduate School of Engineering, Muroran Institute of Technology, 27-1 Mizumoto-cho, Muroran, Hokkaido, 050-8585, Japan

    Yuki Nishiki, Hidekazu Kajiwara & Manabu Aoyagi

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  1. Yuki Nishiki
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  2. Hidekazu Kajiwara
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  3. Manabu Aoyagi
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Correspondence to Hidekazu Kajiwara.

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Nishiki, Y., Kajiwara, H. & Aoyagi, M. Control of swing-up and giant-swing motions of Acrobot based on periodic input. Nonlinear Dyn 108, 2297–2308 (2022). https://doi.org/10.1007/s11071-022-07312-x

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  • DOI: https://doi.org/10.1007/s11071-022-07312-x

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