2001 Swing up pendubot with a GA-tuned bang-bang controlle.pdfVIP

Proceedings of the 2003 IEEE Changsha, China - October 2003 Intemational Conference on Robotics,Jntelligent Systems and Signal Processing Swing Up Pendubot with a GA-tuned Bang-bang Controller Dongbin ZHAO Jianqiang YI Laboratory of Complex Systems and Intelligence Science Beijing 100080, PR. China Donbin.zhao,jianqiang.yi@mail. ia. ac. cn Institute of Automation, Chinese Academy of Sciences Abstract This paper presents a new control method to swing up pendubot (pendulum robot), a typical two-link under-actuated system. The pendubot is composed of the first active joint and the se