Swing-up control of the 2-link rotational pendulum

2축 회전진자의 스윙업제어

A strategy for the swing-up control according to states of the 2-link rotational pendulum is proposed. The proposed controller consists of two modes of control such as divergence mode and stabilization mode. When the controller is in divergence mode, control input is generated using sinusoidal and signum function to make the first and second links reach the bottom and top positions, respectively. After the controller finishes divergence mode, stabilization mode is initiated to keep the pendulum around the top position using pole-placement method. Dynamic models including actuator dynamics are obtained using coordinate changes at each control mode. Simulation results are given to show the effectiveness of the proposed method.