Modeling and Control of an Acrobot Using MATLAB and Simulink

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.

Authors:

• Dong Sang Yoo

Keywords:

• Acrobot
• MATLAB and Simulink
• sliding mode control
• underactuated systems.

References:

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