Modeling and Control of an Acrobot Using MATLAB and Simulink

Authors: Dong Sang Yoo

Abstract:

The problem of finding control laws for underactuated systems has attracted growing attention since these systems are characterized by the fact that they have fewer actuators than the degrees of freedom to be controlled. The acrobot, which is a planar two-link robotic arm in the vertical plane with an actuator at the elbow but no actuator at the shoulder, is a representative in underactuated systems. In this paper, the dynamic model of the acrobot is implemented using Mathworks’ Simscape. And the sliding mode control is constructed using MATLAB and Simulink.

Keywords: Acrobot, MATLAB and Simulink, sliding mode control, underactuated systems.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1107107

References:

[1] Russ Tedrake, Underactuated Robotics: Learning, Planning, and Control for Efficient and Agile Machines, Course Notes for MIT 6.832, 2009.
[2] Mark W. Spong, Control Problems in Robotics and Automation, Lecture Notes in Control and Information Science, vol. 230, pp. 135-150, Springer-Verlag, 1998.
[3] Chun-Yi Su and Yury Stepanenko, “Adaptive Variable Structure Set-Point Control of Underactuated Robots,” IEEE Transaction on Automatic Control, vol. 44, no. 11, pp. 2090-2093, Nov. 1999.
[4] Mun-Soo Park and Dongkyoung Chwa, “Swing-Up and Stabilization Control of Inverted-Pendulum System via Coupled-Mode Control Method,” IEEE Transaction on Industrial Electronics, vol. 56, no. 9, pp. 3541-3555, Sep. 2009.
[5] Rong Xu and Umit Ozguner, “Sliding Mode Control of a Class of Underactuated Systems,” Automatica, vol. 44, pp. 233-241, 2008.
[6] SimscapeTM 3 User’s Guide, Mathworks.