Acrobot Swing Up with MATLAB

Yu Xiao

Acrobot Swing Up with MATLAB

Systems and Control 2024-12-20 v1 Systems and Control

Authors: Yu Xiao

Abstract

This note presents a solution of the swing-up task of two acrobots using trajectory optimization method. The equations of motion for 2-link and 3-link acrobot are manually derived, and then form the dynamics of the robots. Numerical integration method is used to simulate the behaviour of passive robots, with the goal of showing the correctness of the complicated dynamics of the 3-link acrobot. Direct collocation method is used to optimize the trajectory of state and control of the robots with bounds on both.

Keywords

control systems and tracking

Cite

@article{arxiv.1901.03952,
  title  = {Acrobot Swing Up with MATLAB},
  author = {Yu Xiao},
  journal= {arXiv preprint arXiv:1901.03952},
  year   = {2024}
}

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