Enhancement of energy-based swing-up controller via entropy search

Abstract

An energy based approach for stabilizing a mechanical system has offered a simple yet powerful control scheme. However, since it does not impose such strong constraints on parameter space of the controller, finding appropriate parameter values for an optimal controller is known to be hard. This paper intends to generate an optimal energy-based controller for swinging up a rotary inverted pendulum, also known as the Furuta pendulum, by applying the Bayesian optimization called Entropy Search. Simulations and experiments show that the optimal controller has an improved performance compared to a nominal controller for various initial conditions.