کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413523 680540 2009 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Singularity avoidance for acrobots based on fuzzy-control strategy
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Singularity avoidance for acrobots based on fuzzy-control strategy
چکیده انگلیسی

This paper presents a fuzzy-control method for the motion control of an acrobot. First, an explanation is given of the singularity that arises when a motion control law based on a Lyapunov function has an integrated control objective for energy and posture. Then, a fuzzy controller is designed that solves the singularity problem through regulation of a design parameter in the control law. Finally, an additional fuzzy controller is designed that improves the control performance through regulation of another design parameter in the control law. Simulation results demonstrate the effectiveness of this integrated fuzzy-control strategy.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 57, Issue 2, 28 February 2009, Pages 202–211
نویسندگان
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