Swing up control of Acrobot based on switched output functions

In this paper, we propose a control algorithm for the problem of swing up control of Acrobot in upright position on a horizontal bar. An algorithm for that problem has been proposed using an output function which is defined by the angular momentum and new state function is controlled to zero, however the algorithm can not transfer the state from the stable equilibrium to the unstable equilibrium due to the singular surfaces. For this singularity problem, we propose an algorithm that the output function is controlled to track a desired trajectory and the coordinate transformation is changed by switching the output function around the singular surfaces.