| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 413523 | Robotics and Autonomous Systems | 2009 | 10 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Xu-Zhi Lai, Simon X. Yang, Jin-Hua She, Min Wu,