Swing-up control and avoiding singular problem of an acrobot system

In this paper, we address the swing up control and the singular problem of an acrobot. We derive a serial system equation from the acceleration constraint that there is no actuator on the first joint. Based on the serial system representation, we propose a swing up and stabilization control algorithm to move the acrobot from its downward equilibrium to its inverted equilibrium position. We discuss the singularity in control and its avoiding method. Simulation result is also provided to show the effectiveness of the proposed control scheme.