Motion control of a class of underactuated mechanical systems: The acrobot example |
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| Authors: | Lai Xuzhi Cai Zixing and She Jinhua |
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| Affiliation: | (1) College of Information Engineering, Central South University of Technology, 410083 Changsha, China;(2) Mechatronics Department, Tokyo University of Engineering, 192-8580 Tokyo, Japan |
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| Abstract: | Presents a control strategy for underactuated mechanical system: the acrobot example, which combines fuzzy control and linear quadratic control. The fuzzy controller designed for the upswing ensures that the energy of the acrobot increases with each swing. After the acrobot enters a neighborhood of the unstable straight up equilibrium position, a linear quadratic regulator is designed to balance it. |
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| Keywords: | acrobot underactuated mechanical systems fuzzy control linear quadratic regulator |
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