An impulse-momentum approach to swing-up control of the pendubot

The standard control problem of the pendubot refers to the task of stabilizing its equilibrium configuration with the highest potential energy. Linearization of the dynamics of the pendubot about this equilibrium results in a completely controllable system and allows a linear controller to be designed for local asymptotic stability. For the under-actuated system, the important task is therefore to design a controller that will swing up both links and bring the configuration variables of the system within the region of attraction of the desired equilibrium. This paper provides a method for swing-up control based on a series of rest-to-rest maneuvers of the first link about its vertically upright configuration. The rest-to-rest maneuvers are designed such that each maneuver results in a net gain in energy of the second link. This results in swing-up of the second link and the pendubot configuration reaching the region of attraction of the desired equilibrium. A four-step algorithm is provided for swing-up control followed by stabilization. Simulation results are presented to demonstrate the efficacy of the approach.