Handstand Performance Of Acrobot Using Fuzzy Model Based Control  

Oleh:

Izumi, Kiyotaka ; Watanabe, Keigo ; Kiguchi, Kazuo

Jenis: Article from Article
Dalam koleksi: Final Program and Book of Abstracts: The 4th Asian Control Conference, September 25-27, 2002 (Sep. 2002), page 1143-1148.
Topik: Handstand Performance; Acrobot; Fuzzy Model; Control
Fulltext: AC021640.PDF (206.07KB)

Isi artikel

In this paper, a new control method is described for the Acrobot. In particular, a fuzzy model-based controller as a second-stage controller is proposed to extend the attractive domain where the second-stage controller can be applied, whereas a computed torque controller is used as the first-stage controller. The second-stage controller is designed through the fuzzy model-based control with LMI. The effectiveness of the present method is demonstrated by some computer simulations.

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