| Control of acrobot based on Lyapunov function |
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| 引用本文： | 赖旭芝,吴敏,佘锦华. Control of acrobot based on Lyapunov function[J]. 中南工业大学学报(英文版), 2004, 11(2): 210-215. DOI: 10.1007/s11771-004-0043-0 |
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| 作者姓名： | 赖旭芝 吴敏 佘锦华 |
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| 作者单位： | [1]SchoolofInformationScienceandEngineering,CentralSouthUniversity,Changsha410083,China [2]MechatronicsDepartment,TokyoUniversityofTechnology,Hachioji,Tokyo,192-8580,Japan |
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| 摘 要： | Fuzzy control based on I-yapunov function was employed to control the posture and the energy of an acrobot to make the transition from upswing control to balance control smoothly and stably. First, a control law based on I-yapunov function was used to control the angle and the angular velocity of the second link towards zero when the energy of the acrobot reaches the potential energy at the unstable straight-up equilibrium position in the upswing process. The controller based on I-yapunov function makes the second link straighten nature relatively to the first link. At the same time, a fuzzy controller was designed to regulate the parameters of the upper control law to keep the change of the energy of the acrobot to a minimum, so that the switching from upswing to balance can be properly carried out and the acrobot can enter the balance quickly. The results of simulation show that the switching from upswing to balance can be completed smoothly, and the control effect of the acrobot is improved greatly.
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| 关 键 词： | 模糊控制系统 控制规律 角速度 模型理论 |
| 收稿时间： | 2003-10-21 |
| 修稿时间： | 2003-12-20 |
Control of acrobot based on lyapunov function |
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| Lai Xu-zhi , Wu Min and She Jin-hua. Control of acrobot based on lyapunov function[J]. Journal of Central South University of Technology, 2004, 11(2): 210-215. DOI: 10.1007/s11771-004-0043-0 |
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| Authors: | Lai Xu-zhi Wu Min She Jin-hua |
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| Affiliation: | (1) School of Information Science and Engineering, Central South University, 410083 Changsha, China;(2) Mechatronics Department, Tokyo University of Technology, Hachioji, 192-8580 Tokyo, Japan |
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| Abstract: | Fuzzy control based on Lyapunov function was employed to control the posture and the energy of an acrobot to make the transition from upswing control to balance control smoothly and stably. First, a control law based on Lyapunov function was used to control the angle and the angular velocity of the second link towards zero when the energy of the acrobot reaches the potential energy at the unstable straight-up equilibrium position in the upswing process. The controller based on Lyapunov function makes the second link straighten nature relatively to the first link. At the same time, a fuzzy controller was designed to regulate the parameters of the upper control law to keep the change of the energy of the acrobot to a minimum, so that the switching from upswing to balance can be properly carried out and the acrobot can enter the balance quickly. The results of simulation show that the switching from upswing to balance can be completed smoothly, and the control effect of the acrobot is improved greatly. |
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| Keywords: | acrobot fuzzy control Takagi-Sugeno fuzzy model model-free fuzzy control |
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