Control of an Acrobot Using a Robust Strategy by Disturbance Estimation for Non-Minimum Phase Systems

Abstract

This work proposes an extension of MP-ADRC for non-minimum phase systems, applying it to the control of an Acrobot, which approximates a bicycle robot system. The objective is to take advantage of the robustness properties of MP-ADRC with respect to external disturbances, parametric uncertainties and unmodeled dynamics. A cascade control strategy is used, representing the Acrobot dynamic model as two systems in series, one of the minimum phase and the other of the non-minimum phase. An MP-ADRC is designed for each of the systems, aiming to obtain a stable closed-loop structure. Simulation results are presented with the aim of showing the effectiveness of the proposed control strategy.