An acrobot is a planar robot with a passive actuator in its first joint. The main purpose of\nthis system is to make it rise from the rest position to the inverted pendulum position. This control\nproblem can be divided in the swing-up issue, when the robot has to rise itself by swinging up as a\nhuman acrobat does, and the balancing issue, when the robot has to maintain itself in the inverted\npendulum position. We have developed three controllers for the swing-up problem applied to two\ntypes of motors: small and large. For small motors, we used the State-Action-Reward-State-Action\n(SARSA) controller and the proportionalââ?¬â??derivative (PD) controller with a trajectory generator.\nFor large motors, we propose a new controller to control the acrobotââ?¬â?a pulse-width modulation\n(PWM) controller. All controllers except SARSA are tuned using a genetic algorithm.
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