Swing‐Stabilization Up for a Rotatory‐Elastic Pendulum Via Nonlinear Sub‐Optimal Control

摘要

Abstract This paper deals with the smooth control design for Swing‐Stabilization Up of underactuated pendular robot. The considered system has, at least, two different no actuated links, one of them is pendular like elbow, the other one is prismatic and elastic. Thus, the control aim is to swing‐up and stabilize the underactuated system by using non‐switched control algorithm. To this, the control algorithm summarizes the concept of sub‐optimal control, the energy based control and the Kalman's canonical decomposition to unify the Swing‐Up and Stabilization of the considered underactuated system. In order to test the designed control algorithm, experimental results are presented for the non‐conventional rotatory elastic‐pendulum system.