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The Swing Up Control Problem for the Acrobot

Authors: Mark W. Spong

Published: 1995 (Journal Paper)

Source: IEEE Control Systems

Algorithm: Energy-Based Swing-Up Control

DOI: 10.1109/37.341864

Summary

Introduces the Acrobot (a two-link robot arm with one passive joint) as a benchmark for underactuated control and presents an energy-based swing-up strategy that pumps energy to bring the arm from hanging to the inverted position, after which a linear stabilizer takes over. Popularized the Acrobot as a canonical underactuated control problem.

Abstract

Primary

Paper ieeexplore.ieee.org

Standard

DOI 10.1109/37.341864

Tags

  • Acrobot

  • Swing-up control

  • Underactuated systems

  • Energy-based control

  • Nonlinear control

  • Robotics