Swing-up control of an Acrobot based on the skill of horizontal bar gymnast

摘要

In this paper, the control method to swing up the Acrobot which is a model of horizontal bar gymnast is proposed. The model of the Acrobot used in the proposed method has a limitation at the joint of both links and the Acrobot is a model of a human structure. And from an analysis of one of the gymnastic technique called Tap Swing Forward (TSF), swing-up controllers of the Acrobot makes the two links do a human-like movement are proposed. The limitation at the joint is realized via software-like limitation given in control law. In the proposed method, the desired value of angle of the second link is decided based on the movement of TSF technique, and the Acrobot is swung up by making it follow the desired value by using the partial linearization method. Numerical simulation to swing up of the Acrobot is given to show the effectiveness of the proposed scheme.