Acrobot是一种典型的二自由度欠驱动机械系统,针对实际中可能存在的杆二摆角及驱动力矩受限的问题,研究了行为受限下系统的起摆与平衡控制问题。将整个过程分为起摆和平衡2个阶段,首先利用垂直向上不稳定平衡点处近似线性模型,设计了基于LQR方法的平衡控制器,并以减小平衡控制过程力矩为目标讨论了切换姿态的优化问题;起摆控制采用了基于参考路径的能量泵入法,提出了一个改进的参考路径,采用部分反馈线性化方法实现对参考路径的跟踪,可以保证摆角在一定范围内摆动的情况下系统机械能不断增加,使起摆结束时具有更优的切换姿态,从而更容易切换至平衡控制阶段,同时使得平衡控制过程更加平稳,所需力矩更小。最后给出了实物实验结果,证明了所提控制策略的有效性。 Acrobot is a typical two-degree-of-freedom under-driven mechanical system. In order to solve the problem that there may exist rod-two-pendulum angle and limited driving torque in practice, the pendulum and balance control of the system under limited behavior are studied. The whole process is divided into two stages of pendulum and balance. Firstly, a balanced controller based on the LQR method is designed by using the approximate linear model at the vertical upward unstable equilibrium point, and the switching attitude is discussed in order to reduce the balance control process torque The peaking control uses the energy pump-in method based on the reference path, proposes an improved reference path, adopts partial feedback linearization method to track the reference path, and can ensure that the swing angle swings within a certain range Under the system of mechanical energy continues to increase, so that the end of the pendulum has a better switching gesture, which is easier to switch to the balance control stage, while making the balance control process more stable, the required torque smaller. Finally, the experimental results are given, which proves the effectiveness of the proposed control strategy.