Swing-up control of a 3-DOF acrobot using an evolutionary approach

摘要

We present a control method for a 3-DOF acrobot which is a model of a gymnast on a horizontal bar with three links, two active joints, and a passive joint. This robot is a nonholonomic and underactuated system. We propose two control methods for the 3-DOF acrobot. First, swing-up control is performed by genetic programming (GP), and stabilizing control is handled by a linear quadratic regulator (LQR). GP can search widely for the optimum input torques for swing-up so that the acrobot is able to reach a near balancing point. The LQR is then switched on to stabilize the system. In the simulation results, the 3-DOF acrobot could swing up to the desired position, and the proposed method could control the acrobot effectively.