Robust Global Swing-Up of the Pendubot via Hybrid Control

submitted by: roflaherty
Using hybrid control a two link planar robot, called the pendubot, is stabilized to its upright equilibrium from any initial condition despite large disturbances in a robust globally asymptotic fashion. This video shows the pendubot being stabilized from a few different positions. The current controller being applied to the pendubot is indicated by variable q. When q is positive an open-loop control effort is being applied to move the pendubot from one equilibrium point to another...