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

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 second passive joint. The swing up is a complex problem to move the two linhfiom low to top position by appropriate external torque on the first joint. A Bang-bang controller is developed to apply constant output torque on the system periodically. When the two links are located about the natural low position, the constant torque is applied on the3rst actuated joint to make the links swing up by one or more times, finally close to upright position, the attractive basin of a linear controller for balancing. The balancing controller is designed with LQR method. The constant output torque with control basin of the bang-bang controller is determined with a modi$ed genetic algorithm. The control parameters are verijied to swing up the pendubot through simulation results with diferent typical experimental setups. The results indicate that a large output torque cause the two links swinging up quickly to the attractive basin, while a small torque needs several swings back and forth to reach the attractive basin, but it provides a valuable control strategy for real applications. 1 Introduction Two-link under-actuated system is a typical structure of articulated robotic systems, which is characterized as less actuated joints than degree of freedoms. The system consists of two links rotating on two joints, of which one is active actuated by external torque and anothe