Swing up and Balancing Control of Pendubot via Model Orbit Stabilization: Algorithm Synthesis and Experimental Verification

A model orbit stabilization approach to swing up control of a two-link pendulum robot (Pendubot) is under study. The quasihomogeneous control synthesis is utilized to design a variable structure controller that drives the actuated link of the Pendubot to a periodic reference orbit in finite time. A modified Van der Pol oscillator is involved into the synthesis as an asymptotical generator of the periodic motion. Performance issues of the proposed synthesis are illustrated in an experimental study of the swing up/balancing control problem of moving the Pendubot from its stable downward position to the unstable inverted position and stabilizing it about the vertical