Balance control for an acrobot

A balancing controller using LQR approach and GA method is designed for three-link acrobot. The three-link acrobot we studied is not actuated by torque but acceleration, which has more significant than the common one. We establish the model of the acrobot, which consists of two parts: actuation model and dynamic model. Using LQR method, a balancing controller is designed for the model. And genetic algorithms method is used to improve the performance of it. Simulation results show the feasibility and effectiveness of the controller.