Identification and Control of an Implemented Acrobot System

Abstract

The main goal of this paper is to identify the parameters of an Acrobot system and to design a suitable controller for it. So, the parameters of nonlinear model were identified in four steps using Genetic Algorithm. Then, a new swing-up algorithm was proposed. Also, after linearization of dynamics, an optimal state feedback controller was designed to balance the Acrobot links. Since, the controller was acted well only near unstable equilibrium point, another state feedback controller was designed by Genetic Algorithm for the farther points. Simulation results show the suitable performance of the proposed methods.

Keywords

• Acrobot
• identification
• Genetic Algorithm
• underactuated
• linear quadratic regulator