Dynamic servo control method of under drive mechanical device ACROBOT

A dynamic servo control method of an under-actuated mechanical device ACROBOT relates to a dynamic servo control method of an under-actuated mechanical system, and aims at solving the problems of single application field and narrow research field of the existing under-actuated systems. The method comprises the following steps: obtaining instantaneous state quantities of pivot angles of a connecting rod and a pendulum rod from the under-actuated mechanical system to compute a pivot angle error; obtaining a state variable of the current pivot angle of the pendulum rod; obtaining a model time-variant parameter in a feedback control law; obtaining mechanical energy of the under-actuated mechanical system and comparing the mechanical energy with a given value to obtain a target error; and substituting the data into a feedback control law formula to obtain a control torque which is required now, and outputting the control torque to the mechanical system by a motor. In the method, the dynamic servo control is achieved by constructing a Lyapunov function, and a large-scale motion control of the under-actuated system is achieved by constructing a periodic orbit similar to a motion track ofa single pendulum which takes the peak of the orbit as the target point, and by stabilization control of a balance point and follow-up control of a special track.