The swing up control for the Acrobot based on energy control approach

Proposes an energy based control law for swinging up the Acrobot. The control law is designed and the convergence analysis is carried out based on Lyapunov stability theory. The conditions on the parameters in the control law such that the total energy of the Acrobot converges to the potential energy of its top upright position are given. Under such convergence of the energy, the angle between two links converges to zero and the motion of two links converges to a homoclinic orbit containing the top upright position. The characteristics of the solution of the closed-loop system with the energy based control law for swinging up the Acrobot is illustrated clearly in the paper.