Stabilization of acrobat robot in upright position on a horizontal bar

Abstract

In this paper, we propose a control algorithm for the problem of stabilization of Acrobat Robot in upright position on a horizontal bar, in an actual experimental environment. The dynamics of the closed loop is designed to match a stable closed loop dynamics around the equilibrium. Moreover, we apply an iterative learning control in order to deal with modeling errors. The validity of the proposed methods is shown by numerical simulations and experiments.